From aa408655f864b3d98f7ce8ab5279162e6aac8438 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 12 Mar 2012 17:28:07 +1100
Subject: [PATCH] Compass: fixed the order of rotations in the compass driver

this should fix the massive heading issues that people have been
reporting. Please test!
---
 libraries/AP_Compass/AP_Compass_HMC5843.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Compass/AP_Compass_HMC5843.cpp b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
index 6ec074d28b..7310b1cd47 100644
--- a/libraries/AP_Compass/AP_Compass_HMC5843.cpp
+++ b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
@@ -264,10 +264,10 @@ bool AP_Compass_HMC5843::read()
 
    // rotate to the desired orientation
    Vector3f rot_mag = Vector3f(mag_x,mag_y,mag_z);
-   rot_mag.rotate(_orientation);
    if (product_id == AP_COMPASS_TYPE_HMC5883L) {
 	  rot_mag.rotate(ROTATION_YAW_90);
    }
+   rot_mag.rotate(_orientation);
 
    rot_mag += _offset.get();
    mag_x = rot_mag.x;