Merge branch 'master' of github.com:PX4/Firmware

ROMFS/scripts/rcS

@@ -21,9 +21,9 @@ set MODE autostart
 set USB autoconnect
 
 #
-# Start playing the startup tune
+
 #
-tone_alarm start
+
 
 #
 # Try to mount the microSD card.
@@ -32,8 +32,12 @@ echo "[init] looking for microSD..."
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
 	echo "[init] card mounted at /fs/microsd"
+	# Start playing the startup tune
+	tone_alarm start
 else
 	echo "[init] no microSD card found"
+	# Play SOS
+	tone_alarm 2
 fi
 
 #

apps/drivers/l3gd20/l3gd20.cpp

@@ -684,9 +684,10 @@ L3GD20::measure()
 	 *		  74 from all measurements centers them around zero.
 	 */
 	report->timestamp = hrt_absolute_time();
-	/* XXX adjust for sensor alignment to board here */
-	report->x_raw = raw_report.x;
-	report->y_raw = raw_report.y;
+	
+	/* swap x and y and negate y */
+	report->x_raw = raw_report.y;
+	report->y_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
 	report->z_raw = raw_report.z;
 
 	report->x = ((report->x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;