From 645629baa2ca3334ed7c263f618a90786a4ebfeb Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 12 Dec 2018 16:26:36 +1100 Subject: [PATCH] AP_InertialSensor: fixed orientation of 2nd OmnibusF7V2 IMU --- libraries/AP_InertialSensor/AP_InertialSensor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp index 50d2ec362b..30ecce8a29 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp @@ -863,7 +863,7 @@ AP_InertialSensor::detect_backends(void) ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("icm20789"))); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF7V2 ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("mpu6000"), ROTATION_NONE)); - ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("mpu6500"), ROTATION_NONE)); + ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("mpu6500"), ROTATION_YAW_90)); #elif HAL_INS_DEFAULT == HAL_INS_NONE // no INS device #else