AP_Compass: make orientation of LSM9DS1 compass configurable

libraries/AP_Compass/AP_Compass_LSM9DS1.cpp

@@ -57,13 +57,23 @@ struct PACKED sample_regs {
 
 extern const AP_HAL::HAL &hal;
 
+AP_Compass_LSM9DS1::AP_Compass_LSM9DS1(Compass &compass,
+                                       AP_HAL::OwnPtr<AP_HAL::Device> dev,
+                                       enum Rotation rotation)
+    : AP_Compass_Backend(compass)
+    , _dev(std::move(dev))
+    , _rotation(rotation)
+{
+}
+
 AP_Compass_Backend *AP_Compass_LSM9DS1::probe(Compass &compass,
-                                              AP_HAL::OwnPtr<AP_HAL::Device> dev)
+                                              AP_HAL::OwnPtr<AP_HAL::Device> dev,
+                                              enum Rotation rotation)
 {
     if (!dev) {
         return nullptr;
     }
-    AP_Compass_LSM9DS1 *sensor = new AP_Compass_LSM9DS1(compass, std::move(dev));
+    AP_Compass_LSM9DS1 *sensor = new AP_Compass_LSM9DS1(compass, std::move(dev), rotation);
     if (!sensor || !sensor->init()) {
         delete sensor;
         return nullptr;
@@ -98,6 +108,8 @@ bool AP_Compass_LSM9DS1::init()
 
     _compass_instance = register_compass();
 
+    set_rotation(_compass_instance, _rotation);
+
     _dev->set_device_type(DEVTYPE_LSM9DS1);
     set_dev_id(_compass_instance, _dev->get_bus_id());
 
@@ -235,12 +247,6 @@ bool AP_Compass_LSM9DS1::_set_scale(void)
     return true;
 }
 
-AP_Compass_LSM9DS1::AP_Compass_LSM9DS1(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev)
-    : AP_Compass_Backend(compass)
-    , _dev(std::move(dev))
-{
-}
-
 uint8_t AP_Compass_LSM9DS1::_register_read(uint8_t reg)
 {
     uint8_t val = 0;

libraries/AP_Compass/AP_Compass_LSM9DS1.h

@@ -12,7 +12,8 @@ class AP_Compass_LSM9DS1 : public AP_Compass_Backend
 {
 public:
     static AP_Compass_Backend *probe(Compass &compass,
-                                     AP_HAL::OwnPtr<AP_HAL::Device> dev);
+                                     AP_HAL::OwnPtr<AP_HAL::Device> dev,
+                                     enum Rotation rotation = ROTATION_NONE);
 
     static constexpr const char *name = "LSM9DS1";
 
@@ -21,7 +22,8 @@ public:
     virtual ~AP_Compass_LSM9DS1() {}
 
 private:
-    AP_Compass_LSM9DS1(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev);
+    AP_Compass_LSM9DS1(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev,
+                       enum Rotation rotation = ROTATION_NONE);
     bool init();
     bool _check_id(void);
     bool _configure(void);
@@ -41,4 +43,5 @@ private:
     float _mag_y_accum;
     float _mag_z_accum;
     uint32_t _accum_count;
+    enum Rotation _rotation;
 };