From 6ca3a2b35925861de2fd3e8d1fd4d4a093e43de3 Mon Sep 17 00:00:00 2001
From: "tridge60@gmail.com"
<tridge60@gmail.com@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Wed, 10 Aug 2011 12:52:53 +0000
Subject: [PATCH] compass: set the orientation of compass before compass.init()
the compass.init() code uses the orientation when calculating the
calibration. We need to use the right orientation.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3071 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
ArduCopterMega/system.pde | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/ArduCopterMega/system.pde b/ArduCopterMega/system.pde
index d9caffbcfb..348d048068 100644
--- a/ArduCopterMega/system.pde
+++ b/ArduCopterMega/system.pde
@@ -453,9 +453,9 @@ static void resetPerfData(void) {
static void
init_compass()
{
+ compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
dcm.set_compass(&compass);
bool junkbool = compass.init();
- compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
Vector3f junkvector = compass.get_offsets(); // load offsets to account for airframe magnetic interference
}