From aaaa5247e33e1e9a65c5695ae2c20f648caf2ee7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 3 Jun 2013 16:52:28 +1000
Subject: [PATCH] AP_AHRS: make it possible to setup board orientation at
 runtime

---
 libraries/AP_AHRS/AP_AHRS.h | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index cbbf6a5c9f..5ad7a2a34a 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -46,7 +46,7 @@ public:
 
     // init sets up INS board orientation
     virtual void init() {
-        _ins->set_board_orientation((enum Rotation)_board_orientation.get());
+        set_orientation();
     };
 
     // Accessors
@@ -60,10 +60,19 @@ public:
 
     void set_compass(Compass *compass) {
         _compass = compass;
+        set_orientation();
+    }
+
+
+    // allow for runtime change of orientation
+    // this makes initial config easier
+    void set_orientation() {
+        _ins->set_board_orientation((enum Rotation)_board_orientation.get());
         if (_compass != NULL) {
             _compass->set_board_orientation((enum Rotation)_board_orientation.get());
         }
     }
+
     void set_airspeed(AP_Airspeed *airspeed) {
         _airspeed = airspeed;
     }