From fa950a735ef54ee2bdf97674526878b053b78070 Mon Sep 17 00:00:00 2001
From: mirkix <mirkix@gmail.com>
Date: Sun, 11 Jan 2015 19:02:05 +0000
Subject: [PATCH] AP_InertialSensor: add support for BBBMINI, simple ArduPilot
DIY Cape for the BeagleBone Black
---
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp | 3 +++
1 file changed, 3 insertions(+)
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
index 0c8cd3211..3fb4ffab8 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
@@ -288,6 +288,9 @@ bool AP_InertialSensor_MPU9250::update( void )
// way up, and PWM pins on NavIO are at the back of the aircraft
accel.rotate(ROTATION_ROLL_180_YAW_90);
gyro.rotate(ROTATION_ROLL_180_YAW_90);
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
+ accel.rotate(ROTATION_ROLL_180);
+ gyro.rotate(ROTATION_ROLL_180);
#endif
_rotate_and_offset_gyro(_gyro_instance, gyro);
--
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