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AP_InertialSensor: Fix orientation MPU6000 PXF

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ahcorde 2014-11-17 18:09:38 +01:00 committed by Andrew Tridgell
parent bd34ffa7db
commit 103bb2a08d
1 changed files with 7 additions and 2 deletions
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9
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -296,10 +296,15 @@ bool AP_InertialSensor_MPU6000::update( void )
hal.scheduler->resume_timer_procs(); hal.scheduler->resume_timer_procs();
gyro *= _gyro_scale / num_samples; gyro *= _gyro_scale / num_samples;
_publish_gyro(_gyro_instance, gyro);
accel *= MPU6000_ACCEL_SCALE_1G / num_samples; accel *= MPU6000_ACCEL_SCALE_1G / num_samples;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
accel.rotate(ROTATION_PITCH_180_YAW_90);
gyro.rotate(ROTATION_PITCH_180_YAW_90);
#endif
_publish_accel(_accel_instance, accel); _publish_accel(_accel_instance, accel);
_publish_gyro(_gyro_instance, gyro);
#if MPU6000_FAST_SAMPLING #if MPU6000_FAST_SAMPLING
if (_last_accel_filter_hz != _accel_filter_cutoff()) { if (_last_accel_filter_hz != _accel_filter_cutoff()) {