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AP_AHRS: add and use AP_CUSTOMROTATIONS_ENABLED

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also add to build_options.py
This commit is contained in:
Peter Barker 2024-02-29 15:39:18 +11:00 committed by Peter Barker
parent 73afd26465
commit a836bd8583
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_AHRS/AP_AHRS.cpp
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@ -256,7 +256,7 @@ void AP_AHRS::init()
external.init(); external.init();
#endif #endif
#if !APM_BUILD_TYPE(APM_BUILD_AP_Periph) #if AP_CUSTOMROTATIONS_ENABLED
// convert to new custom rotation // convert to new custom rotation
// PARAMETER_CONVERSION - Added: Nov-2021 // PARAMETER_CONVERSION - Added: Nov-2021
if (_board_orientation == ROTATION_CUSTOM_OLD) { if (_board_orientation == ROTATION_CUSTOM_OLD) {
@ -274,7 +274,7 @@ void AP_AHRS::init()
AP::custom_rotations().convert(ROTATION_CUSTOM_1, rpy[0], rpy[1], rpy[2]); AP::custom_rotations().convert(ROTATION_CUSTOM_1, rpy[0], rpy[1], rpy[2]);
} }
} }
#endif // !APM_BUILD_TYPE(APM_BUILD_AP_Periph) #endif // AP_CUSTOMROTATIONS_ENABLED
} }
// updates matrices responsible for rotating vectors from vehicle body // updates matrices responsible for rotating vectors from vehicle body