From 595d3c694a48aedea8281bc468a8958d9540fc3c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 3 Jun 2013 16:52:52 +1000
Subject: [PATCH] Copter: make it possible to change board orientation at
 runtime

---
 ArduCopter/ArduCopter.pde | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index c10fe77279..1f11078003 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1293,6 +1293,12 @@ static void super_slow_loop()
     // auto disarm checks
     auto_disarm_check();
 
+    // make it possible to change orientation at runtime - useful
+    // during initial config
+    if (!motors.armed()) {
+        ahrs.set_orientation();
+    }
+
     // agmatthews - USERHOOKS
 #ifdef USERHOOK_SUPERSLOWLOOP
     USERHOOK_SUPERSLOWLOOP