AP_Compass: add rotation option for AK8963_MPU9250

allows using non-neutrally rotated AK8963 compass on MPU9250 as internal reference: https://github.com/ArduPilot/ardupilot/pull/9459
6 years ago · b455c7a769
1 changed files with 4 additions and 1 deletions
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@ -862,7 +862,10 @@ void Compass::_detect_backends(void)
				@@ -862,7 +862,10 @@ void Compass::_detect_backends(void)
    ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0));
    ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true));
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250
-    ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0));
+#ifndef HAL_COMPASS_AK8963_MPU9250_ROTATION
+#define HAL_COMPASS_AK8963_MPU9250_ROTATION ROTATION_NONE
+#endif
+    ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, HAL_COMPASS_AK8963_MPU9250_ROTATION));
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843
 #ifndef HAL_COMPASS_HMC5843_ROTATION
 # define HAL_COMPASS_HMC5843_ROTATION ROTATION_NONE