AP_Compass: fixed compass for tailsitters in SITL

libraries/AP_Compass/AP_Compass_Backend.cpp

@@ -202,3 +202,8 @@ bool AP_Compass_Backend::field_ok(const Vector3f &field)
     return ret;
 }
 
+
+enum Rotation AP_Compass_Backend::get_board_orientation(void) const
+{
+    return _compass._board_orientation;
+}

libraries/AP_Compass/AP_Compass_Backend.h

@@ -106,6 +106,9 @@ protected:
     // set rotation of an instance
     void set_rotation(uint8_t instance, enum Rotation rotation);
 
+    // get board orientation (for SITL)
+    enum Rotation get_board_orientation(void) const;
+    
     // access to frontend
     Compass &_compass;
 

libraries/AP_Compass/AP_Compass_SITL.cpp

@@ -114,7 +114,9 @@ void AP_Compass_SITL::_timer()
         if (i == 0) {
             // rotate the first compass, allowing for testing of external compass rotation
             f.rotate_inverse((enum Rotation)_sitl->mag_orient.get());
+            f.rotate(get_board_orientation());
         }
+        
         rotate_field(f, _compass_instance[i]);
         publish_raw_field(f, _compass_instance[i]);
         correct_field(f, _compass_instance[i]);