From 3ea79004a02c986be1e11504b31756a008fd7954 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 20 Jul 2022 10:45:38 +1000 Subject: [PATCH] hwdef: fixed orientation of Pixhawk6X ICM42670 --- libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat index 07e793d3b8..611599dd54 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat @@ -304,7 +304,7 @@ SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) IMU Invensensev2 SPI:icm20649 ROTATION_YAW_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) # alternative to BMI088 -IMU Invensensev3 SPI:icm42670 ROTATION_PITCH_180_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) +IMU Invensensev3 SPI:icm42670 ROTATION_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) # CUAV-6X 3 IMUs IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_270 BOARD_MATCH(FMUV6_BOARD_CUAV_6X)