From a019e3740e04a0a9f30178efea8e7c3c3cec8c18 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 2 May 2013 12:28:26 +1000
Subject: [PATCH] Plane: updates for new compass API

---
 ArduPlane/APM_Config.h.reference | 3 ---
 ArduPlane/config.h               | 7 -------
 ArduPlane/setup.pde              | 1 -
 ArduPlane/system.pde             | 1 -
 ArduPlane/test.pde               | 3 ---
 5 files changed, 15 deletions(-)

diff --git a/ArduPlane/APM_Config.h.reference b/ArduPlane/APM_Config.h.reference
index e9f01b04df..1b57196589 100644
--- a/ArduPlane/APM_Config.h.reference
+++ b/ArduPlane/APM_Config.h.reference
@@ -91,15 +91,12 @@
 
 //////////////////////////////////////////////////////////////////////////////
 // MAGNETOMETER                          OPTIONAL
-// MAG_ORIENTATION                       OPTIONAL
 //
 // Set MAGNETOMETER to ENABLED if you have a magnetometer attached.
-// Set MAG_ORIENTATION to reflect the orientation you have the magnetometer mounted with respect to ArduPilotMega
 //
 // The default assumes that a magnetometer is not connected.
 //
 //#define MAGNETOMETER		DISABLED
-//#define MAG_ORIENTATION	AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
 //
 
 //////////////////////////////////////////////////////////////////////////////
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index 2b2b5502fc..a5e6950a8b 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -119,7 +119,6 @@
  # define CONFIG_PITOT_SOURCE PITOT_SOURCE_ANALOG_PIN
  # define CONFIG_PITOT_SOURCE_ANALOG_PIN 0
  # define CONFIG_PITOT_SCALING 4.0
- # define MAG_ORIENTATION   AP_COMPASS_APM2_SHIELD
  # define MAGNETOMETER ENABLED
  # ifdef APM2_BETA_HARDWARE
  #  define CONFIG_BARO     AP_BARO_BMP085
@@ -157,7 +156,6 @@
  # define CONFIG_PITOT_SOURCE_ANALOG_PIN 11
  # define CONFIG_PITOT_SCALING (4.0*5.0/3.3)
  # define MAGNETOMETER ENABLED
- # define MAG_ORIENTATION   ROTATION_NONE
  # define CONFIG_BARO AP_BARO_PX4
  # define CONFIG_COMPASS  AP_COMPASS_PX4
  # define SERIAL0_BAUD 115200
@@ -272,11 +270,6 @@
  # define MAGNETOMETER                   DISABLED
 #endif
 
-#ifndef MAG_ORIENTATION
- # define MAG_ORIENTATION                AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
-#endif
-
-
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
 // RADIO CONFIGURATION
diff --git a/ArduPlane/setup.pde b/ArduPlane/setup.pde
index 17fa8badc5..58fd921b29 100644
--- a/ArduPlane/setup.pde
+++ b/ArduPlane/setup.pde
@@ -412,7 +412,6 @@ static int8_t
 setup_compass(uint8_t argc, const Menu::arg *argv)
 {
     if (!strcmp_P(argv[1].str, PSTR("on"))) {
-        compass.set_orientation(MAG_ORIENTATION);       // set compass's orientation on aircraft
         if (!compass.init()) {
             cliSerial->println_P(PSTR("Compass initialisation failed!"));
             g.compass_enabled = false;
diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde
index ab4f2b3896..2d428bfaaf 100644
--- a/ArduPlane/system.pde
+++ b/ArduPlane/system.pde
@@ -160,7 +160,6 @@ static void init_ardupilot()
     barometer.init();
 
     if (g.compass_enabled==true) {
-        compass.set_orientation(MAG_ORIENTATION);                                                       // set compass's orientation on aircraft
         if (!compass.init() || !compass.read()) {
             cliSerial->println_P(PSTR("Compass initialisation failed!"));
             g.compass_enabled = false;
diff --git a/ArduPlane/test.pde b/ArduPlane/test.pde
index 8b0817563c..ebc97729a0 100644
--- a/ArduPlane/test.pde
+++ b/ArduPlane/test.pde
@@ -526,7 +526,6 @@ test_mag(uint8_t argc, const Menu::arg *argv)
         return (0);
     }
 
-    compass.set_orientation(MAG_ORIENTATION);
     if (!compass.init()) {
         cliSerial->println_P(PSTR("Compass initialisation failed!"));
         return 0;
@@ -545,8 +544,6 @@ test_mag(uint8_t argc, const Menu::arg *argv)
     int16_t counter = 0;
     float heading = 0;
 
-    //cliSerial->printf_P(PSTR("MAG_ORIENTATION: %d\n"), MAG_ORIENTATION);
-
     print_hit_enter();
 
     while(1) {