From d30e55fa44a9408e786cdca209644bfbb4e2e867 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 7 Jun 2016 08:20:30 +1000 Subject: [PATCH] AP_InertialSensor: initial support for Disco setup right orientation --- libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp index 034312cb2a4..11185fc58e0 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp @@ -463,6 +463,9 @@ void AP_InertialSensor_MPU6000::_accumulate(uint8_t *samples, uint8_t n_samples) #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP accel.rotate(ROTATION_YAW_270); gyro.rotate(ROTATION_YAW_270); +#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO + accel.rotate(ROTATION_PITCH_180_YAW_90); + gyro.rotate(ROTATION_PITCH_180_YAW_90); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE accel.rotate(ROTATION_YAW_90); gyro.rotate(ROTATION_YAW_90);