From 3518cf5480a1f2491dd554436b6a71f9a8828a07 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 4 Nov 2014 16:18:35 +1100
Subject: [PATCH] AP_InertialSensor: fixed default MPU9250 orientation for
 NavIO

---
 libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
index 1137e6558c..0c574ebb11 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
@@ -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);