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AP_Compass: HMC5843: apply HMC5883L "arrow" rotation only if external

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That rotation is done because of the "arrow" pointing the sensor direction in
3DR GPS+Compass kit (which isn't natural to the sensor orientation, by the
way). Thus, do that rotation only for external HMC5883L compasses.
This commit is contained in:
Gustavo Jose de Sousa 2016-01-28 17:11:28 +00:00 committed by Lucas De Marchi
parent 35cddc7af0
commit 91246ad8af
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -242,7 +242,8 @@ void AP_Compass_HMC5843::accumulate()
raw_field *= _gain_scale; raw_field *= _gain_scale;
// rotate to the desired orientation // rotate to the desired orientation
if (_product_id == AP_COMPASS_TYPE_HMC5883L) { if (is_external(_compass_instance) &&
_product_id == AP_COMPASS_TYPE_HMC5883L) {
raw_field.rotate(ROTATION_YAW_90); raw_field.rotate(ROTATION_YAW_90);
} }