From 0d027b7a23584f48c758ecf4600baf34a75a8ca0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 2 May 2013 12:28:13 +1000
Subject: [PATCH] Copter: updates for new compass API

---
 ArduCopter/APM_Config.h | 1 -
 ArduCopter/config.h     | 8 --------
 ArduCopter/sensors.pde  | 1 -
 ArduCopter/test.pde     | 1 -
 4 files changed, 11 deletions(-)

diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index 375c69641d..5b554b9abc 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -7,7 +7,6 @@
 // If you used to define your CONFIG_APM_HARDWARE setting here, it is no longer
 // valid! You should switch to using a HAL_BOARD flag in your local config.mk.
 
-//#define MAG_ORIENTATION		AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
 //#define HIL_MODE				HIL_MODE_SENSORS
 //#define DMP_ENABLED ENABLED
 //#define SECONDARY_DMP_ENABLED ENABLED       // allows running DMP in parallel with DCM for testing purposes
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index f3556c7ab8..a085a6b636 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -59,7 +59,6 @@
  # define CONFIG_IMU_TYPE   CONFIG_IMU_MPU6000
  # define CONFIG_PUSHBUTTON DISABLED
  # define CONFIG_RELAY      DISABLED
- # define MAG_ORIENTATION   AP_COMPASS_APM2_SHIELD
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
  # define MAGNETOMETER ENABLED
  # ifdef APM2_BETA_HARDWARE
@@ -72,7 +71,6 @@
  # define CONFIG_IMU_TYPE   CONFIG_IMU_SITL
  # define CONFIG_PUSHBUTTON DISABLED
  # define CONFIG_RELAY      DISABLED
- # define MAG_ORIENTATION   AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
  # define MAGNETOMETER ENABLED
 #elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
@@ -80,7 +78,6 @@
  # define CONFIG_BARO       AP_BARO_PX4
  # define CONFIG_PUSHBUTTON DISABLED
  # define CONFIG_RELAY      DISABLED
- # define MAG_ORIENTATION   ROTATION_NONE
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
  # define MAGNETOMETER ENABLED
 #elif CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
@@ -90,7 +87,6 @@
  # define CONFIG_ADC        DISABLED
  # define CONFIG_PUSHBUTTON DISABLED
  # define CONFIG_RELAY      DISABLED
- # define MAG_ORIENTATION   AP_COMPASS_COMPONENTS_DOWN_PINS_BACK
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
  # define MAGNETOMETER ENABLED
 #endif
@@ -413,10 +409,6 @@
 #ifndef MAGNETOMETER
  # define MAGNETOMETER                   ENABLED
 #endif
-#ifndef MAG_ORIENTATION
- # define MAG_ORIENTATION                AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
-#endif
-
 
 //////////////////////////////////////////////////////////////////////////////
 //  OPTICAL_FLOW
diff --git a/ArduCopter/sensors.pde b/ArduCopter/sensors.pde
index f38cbe2157..e5a2332806 100644
--- a/ArduCopter/sensors.pde
+++ b/ArduCopter/sensors.pde
@@ -65,7 +65,6 @@ static int16_t read_sonar(void)
 
 static void init_compass()
 {
-    compass.set_orientation(MAG_ORIENTATION);                                                   // set compass's orientation on aircraft
     if (!compass.init() || !compass.read()) {
         // make sure we don't pass a broken compass to DCM
         cliSerial->println_P(PSTR("COMPASS INIT ERROR"));
diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde
index db8e697271..3804fbe1ae 100644
--- a/ArduCopter/test.pde
+++ b/ArduCopter/test.pde
@@ -440,7 +440,6 @@ test_mag(uint8_t argc, const Menu::arg *argv)
         return (0);
     }
 
-    compass.set_orientation(MAG_ORIENTATION);
     if (!compass.init()) {
         cliSerial->println_P(PSTR("Compass initialisation failed!"));
         return 0;