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AP_InertialSensor: MPU6000: add rotation for minlure

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Lucas De Marchi 2015-08-15 16:24:27 -03:00 committed by Andrew Tridgell
parent 386547427d
commit ed36ae9ef7
1 changed files with 3 additions and 0 deletions
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libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -712,6 +712,9 @@ void AP_InertialSensor_MPU6000::_accumulate(uint8_t *samples, uint8_t n_samples)
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
accel.rotate(ROTATION_YAW_270);
gyro.rotate(ROTATION_YAW_270);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
accel.rotate(ROTATION_YAW_90);
gyro.rotate(ROTATION_YAW_90);
#endif
_rotate_and_correct_accel(_accel_instance, accel);