From 5602e4055baec8a9d666ac1c6ce839085fadc6a2 Mon Sep 17 00:00:00 2001 From: Julien BERAUD Date: Mon, 14 Sep 2015 15:49:15 +0200 Subject: [PATCH] AP_Compass_AK8963: Fix Rotation on the Bebop --- libraries/AP_Compass/AP_Compass_AK8963.cpp | 3 --- libraries/AP_Compass/Compass.h | 2 ++ 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/libraries/AP_Compass/AP_Compass_AK8963.cpp b/libraries/AP_Compass/AP_Compass_AK8963.cpp index 19406a8f7c..0ae00a31db 100644 --- 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() _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); } diff --git a/libraries/AP_Compass/Compass.h b/libraries/AP_Compass/Compass.h index 051dea08fa..b7bc794f69 100644 --- a/libraries/AP_Compass/Compass.h +++ b/libraries/AP_Compass/Compass.h @@ -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