AP_Compass_AK8963: Fix Rotation on the Bebop

10 years ago · 5602e4055b
2 changed files with 2 additions and 3 deletions
--- a/libraries/AP_Compass/AP_Compass_AK8963.cpp
+++ b/libraries/AP_Compass/AP_Compass_AK8963.cpp
@ -212,9 +212,6 @@ void AP_Compass_AK8963::read()
				@@ -212,9 +212,6 @@ void AP_Compass_AK8963::read()
    _make_factory_sensitivity_adjustment(field);
    _make_adc_sensitivity_adjustment(field);

-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
-    field.rotate(ROTATION_YAW_90);
-#endif
    publish_filtered_field(field, _compass_instance);
 }

--- a/libraries/AP_Compass/Compass.h
+++ b/libraries/AP_Compass/Compass.h
@ -33,6 +33,8 @@
				@@ -33,6 +33,8 @@
 # define MAG_BOARD_ORIENTATION ROTATION_ROLL_180
 #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
 # define MAG_BOARD_ORIENTATION ROTATION_ROLL_180
+#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
+# define MAG_BOARD_ORIENTATION ROTATION_YAW_90
 #else
 # define MAG_BOARD_ORIENTATION ROTATION_NONE
 #endif