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AP_Compass: add rotation option for AK8963_MPU9250

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allows using non-neutrally rotated AK8963 compass on MPU9250 as internal
reference: https://github.com/ArduPilot/ardupilot/pull/9459
This commit is contained in:
vierfuffzig 2018-09-21 18:00:56 +02:00 committed by Andrew Tridgell
parent 0b9d0a4559
commit b455c7a769
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_Compass/AP_Compass.cpp
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@ -862,7 +862,10 @@ void Compass::_detect_backends(void)
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0));
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0));
#ifndef HAL_COMPASS_AK8963_MPU9250_ROTATION
#define HAL_COMPASS_AK8963_MPU9250_ROTATION ROTATION_NONE
#endif
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, HAL_COMPASS_AK8963_MPU9250_ROTATION));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843
#ifndef HAL_COMPASS_HMC5843_ROTATION
# define HAL_COMPASS_HMC5843_ROTATION ROTATION_NONE