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AP_InertialSensor: fixed default MPU9250 orientation for NavIO

This commit is contained in:
Andrew Tridgell 2014-11-04 16:18:35 +11:00
parent c682a6ee96
commit 3518cf5480
1 changed files with 5 additions and 0 deletions
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libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
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@ -283,6 +283,11 @@ bool AP_InertialSensor_MPU9250::update( void )
// PXF has an additional YAW 180
accel.rotate(ROTATION_YAW_180);
gyro.rotate(ROTATION_YAW_180);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
// NavIO has different orientation, assuming RaspberryPi is right
// way up, and PWM pins on NavIO are at the back of the aircraft
accel.rotate(ROTATION_ROLL_180_YAW_90);
gyro.rotate(ROTATION_ROLL_180_YAW_90);
#endif
_rotate_and_offset_gyro(_gyro_instance, gyro);