diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp index c4b9ffe781..e06c480ca4 100644 --- a/libraries/AP_Compass/AP_Compass.cpp +++ b/libraries/AP_Compass/AP_Compass.cpp @@ -599,7 +599,7 @@ void Compass::_detect_backends(void) #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NAVIO2 ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0), AP_Compass_AK8963::name, false); - ADD_BACKEND(AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m")), + ADD_BACKEND(AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m"), ROTATION_ROLL_180), AP_Compass_LSM9DS1::name, false); ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true), AP_Compass_HMC5843::name, true); diff --git a/libraries/AP_Compass/AP_Compass_LSM9DS1.cpp b/libraries/AP_Compass/AP_Compass_LSM9DS1.cpp index 68337a5f78..fbc5e2e915 100644 --- a/libraries/AP_Compass/AP_Compass_LSM9DS1.cpp +++ b/libraries/AP_Compass/AP_Compass_LSM9DS1.cpp @@ -203,10 +203,6 @@ void AP_Compass_LSM9DS1::read() _accum_count = 0; _sem->give(); - -#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 - field.rotate(ROTATION_ROLL_180); -#endif publish_filtered_field(field, _compass_instance); }