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AP_InertialSensor: add support for BBBMINI, simple ArduPilot DIY Cape for the BeagleBone Black

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mirkix 2015-01-11 19:02:05 +00:00 committed by Andrew Tridgell
parent 001758071f
commit fa950a735e
1 changed files with 3 additions and 0 deletions
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libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
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@ -288,6 +288,9 @@ bool AP_InertialSensor_MPU9250::update( void )
// way up, and PWM pins on NavIO are at the back of the aircraft
accel.rotate(ROTATION_ROLL_180_YAW_90);
gyro.rotate(ROTATION_ROLL_180_YAW_90);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
accel.rotate(ROTATION_ROLL_180);
gyro.rotate(ROTATION_ROLL_180);
#endif
_rotate_and_offset_gyro(_gyro_instance, gyro);