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AP_Compass_AK8963: Fix Rotation on the Bebop

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This commit is contained in:
Julien BERAUD 2015-09-14 15:49:15 +02:00 committed by Randy Mackay
parent 6b22a59eff
commit 5602e4055b
2 changed files with 2 additions and 3 deletions
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3
libraries/AP_Compass/AP_Compass_AK8963.cpp
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@ -212,9 +212,6 @@ void AP_Compass_AK8963::read()
_make_factory_sensitivity_adjustment(field); _make_factory_sensitivity_adjustment(field);
_make_adc_sensitivity_adjustment(field); _make_adc_sensitivity_adjustment(field);
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
field.rotate(ROTATION_YAW_90);
#endif
publish_filtered_field(field, _compass_instance); publish_filtered_field(field, _compass_instance);
} }

2
libraries/AP_Compass/Compass.h
View File

@ -33,6 +33,8 @@
# define MAG_BOARD_ORIENTATION ROTATION_ROLL_180 # define MAG_BOARD_ORIENTATION ROTATION_ROLL_180
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
# define MAG_BOARD_ORIENTATION ROTATION_ROLL_180 # define MAG_BOARD_ORIENTATION ROTATION_ROLL_180
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
# define MAG_BOARD_ORIENTATION ROTATION_YAW_90
#else #else
# define MAG_BOARD_ORIENTATION ROTATION_NONE # define MAG_BOARD_ORIENTATION ROTATION_NONE
#endif #endif