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AP_Compass: fix rotation for LSM9DS1 compass 

Move rotation to the right place. Otherwise live calibration and onboard
calibration show different results.
This commit is contained in:
Alexey Bulatov 2016-11-18 15:50:04 +03:00 committed by Lucas De Marchi
parent bed521e2b5
commit 67dd4d3efe
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_Compass/AP_Compass_LSM9DS1.cpp
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@ -158,6 +158,10 @@ void AP_Compass_LSM9DS1::_update(void)
raw_field *= _scaling;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
raw_field.rotate(ROTATION_ROLL_180);
#endif
// rotate raw_field from sensor frame to body frame
rotate_field(raw_field, _compass_instance);
@ -200,10 +204,6 @@ void AP_Compass_LSM9DS1::read()
hal.scheduler->resume_timer_procs();
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
field.rotate(ROTATION_ROLL_180);
#endif
publish_filtered_field(field, _compass_instance);
}