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AP_Compass: ignore COMPASS_ORIENT for internal compass

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this means if COMPASS_ORIENT is not 0 and the external compass fails
to start on boot we don't end up with a bad compass orientation
This commit is contained in:
Andrew Tridgell 2013-09-07 16:49:51 +10:00
parent 630095adaa
commit b8b72819c1
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_Compass/AP_Compass_PX4.cpp
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@ -89,13 +89,13 @@ bool AP_Compass_PX4::read(void)
// a noop on most boards
_sum.rotate(MAG_BOARD_ORIENTATION);
// add user selectable orientation
_sum.rotate((enum Rotation)_orientation.get());
// override any user setting of COMPASS_EXTERNAL
_external.set(_is_external);
if (!_external) {
if (_external) {
// add user selectable orientation
_sum.rotate((enum Rotation)_orientation.get());
} else {
// add in board orientation from AHRS
_sum.rotate(_board_orientation);
}