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AP_InertialSensor: Rework rotation handling
Right now, MPU based imus perform the rotations in the driver in an implicit way when converting sensor bus data to actual x, y, z data. MPU6000 and MPU9250 : x = y, y = x, z = -z meaning ROTATION_ROLL_180_YAW_90 LSM9DS0 and L3G4200 : x = x, y = -y, z = -z meaning ROTATION ROLL_180 This commit removes these implict rotations from the drivers and modify the per-board orientations so the behaviour doesn't change, by applying a combination of ROLL_180_YAW_90 and then the former board rotation for MPU9250 and MPU6000 and applying a combination of ROLL_180 and the former board rotation for LSM9DS0 and L3G4200. RASPILOT had a compilation flag inside the LSM9DS0 driver to add a YAW_90 rotation. When added to the ROLL_180 applied when converting data, it gives the same rotation as the computed rotation for the mpu6000, i.e ROLL_180_YAW_90 Checks: Leftovers and mistakes fixed by tridge included
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Julien Beraud
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Nov 18, 2016
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