AP_Compass: allow rotation of BMM150 compass

libraries/AP_Compass/AP_Compass.cpp

@@ -789,7 +789,7 @@ void Compass::_detect_backends(void)
 
     case AP_BoardConfig::PX4_BOARD_PCNC1:
         ADD_BACKEND(DRIVER_BMM150,
-                    AP_Compass_BMM150::probe(GET_I2C_DEVICE(0, 0x10)));
+                    AP_Compass_BMM150::probe(GET_I2C_DEVICE(0, 0x10), ROTATION_NONE));
         break;
     case AP_BoardConfig::VRX_BOARD_BRAIN54: {
         // external i2c bus

libraries/AP_Compass/AP_Compass_BMM150.cpp

@@ -63,12 +63,12 @@
 
 extern const AP_HAL::HAL &hal;
 
-AP_Compass_Backend *AP_Compass_BMM150::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
+AP_Compass_Backend *AP_Compass_BMM150::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, enum Rotation rotation)
 {
     if (!dev) {
         return nullptr;
     }
-    AP_Compass_BMM150 *sensor = new AP_Compass_BMM150(std::move(dev));
+    AP_Compass_BMM150 *sensor = new AP_Compass_BMM150(std::move(dev), rotation);
     if (!sensor || !sensor->init()) {
         delete sensor;
         return nullptr;
@@ -77,8 +77,8 @@ AP_Compass_Backend *AP_Compass_BMM150::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> d
     return sensor;
 }
 
-AP_Compass_BMM150::AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev)
-    : _dev(std::move(dev))
+AP_Compass_BMM150::AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev, enum Rotation rotation)
+    : _dev(std::move(dev)), _rotation(rotation)
 {
 }
 
@@ -216,6 +216,8 @@ bool AP_Compass_BMM150::init()
     /* register the compass instance in the frontend */
     _compass_instance = register_compass();
 
+    set_rotation(_compass_instance, _rotation);
+
     _dev->set_device_type(DEVTYPE_BMM150);
     set_dev_id(_compass_instance, _dev->get_bus_id());
 

libraries/AP_Compass/AP_Compass_BMM150.h

@@ -27,14 +27,14 @@
 class AP_Compass_BMM150 : public AP_Compass_Backend
 {
 public:
-    static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
+    static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, enum Rotation rotation);
 
     void read() override;
 
     static constexpr const char *name = "BMM150";
 
 private:
-    AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev);
+    AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev, enum Rotation rotation);
 
     /**
      * Device periodic callback to read data from the sensor.
@@ -65,4 +65,5 @@ private:
 
     uint32_t _last_read_ms;
     AP_HAL::Util::perf_counter_t _perf_err;
+    enum Rotation _rotation;
 };