freeimu v01 orientation config in MultiWii

Asked by Hamburger

Hi,
I have a FREEimu v0.1 which I use with MultiWii.
The physical sensor board orientation is done with Y pointing front and X pointed right.
Now I need to find out the suitable configuration in the MultiWii code.

In the file http://code.google.com/p/multiwii/source/browse/branches/Hamburger/dev20110619_plus/MultiWii_dev20110619/def.h
we now have:

#if defined(FREEIMUv01) //9DOF
  #if !defined(ITG3200)
    #define ITG3200
  #endif
  #if !defined(ADXL345)
    #define ADXL345
  #endif
  #if !defined(HMC5843)
    #define HMC5843
  #endif
  #define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = -Y; accADC[PITCH] = X; accADC[YAW] = Z;}
  #define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = X; gyroADC[PITCH] = Y; gyroADC[YAW] = Z;}
  #define MAG_ORIENTATION(X, Y, Z) {magADC[ROLL] = X; magADC[PITCH] = Y; magADC[YAW] = Z;}
  #define ADXL345_ADDRESS 0xA6
  #undef INTERNAL_I2C_PULLUPS
#endif

I am quite sure from observing the gyro and acc readings in the MultiWii gui the orientation settings for gyro and acc are correct now, right?
But I cannot find any hint on the orientation settings for the MAG sensor. Can you please help?
Thanks, Hamburger

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Fabio Varesano (fabio-varesano) said :
#1

In FreeIMU, whichever version you are using, all the three sensors have their axis aligned. So, I would have expected all the three configurations to be the same.

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