New sensorboard

#define GY_85   // Chinese 9 DOF with  ITG3205 ADXL345 HMC5883L LLC

git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@788 02679b44-d973-9852-f2fa-63770883b36c

config.h

@@ -39,11 +39,11 @@
     // Heli is  beta test ......!
     // Howto setup =>>> http://fotoflygarn.blogspot.se/2012/04/multiwii-helicopter.html
     //#define HELI_120_CCPM  // PatrikE Experimental
-    //#define HELI_90_DEG  // PatrikE Experimental
+    //#define HELI_90_DEG    // PatrikE Experimental
     //*******************************************************
 
 
-  /******                Motor minthrottle    *******************************/
+  /****************************    Motor minthrottle    *******************************/
     /* Set the minimum throttle command sent to the ESC (Electronic Speed Controller)
        This is the minimum value that allow motors to run at a idle speed  */
     //#define MINTHROTTLE 1300 // for Turnigy Plush ESCs 10A
@@ -101,6 +101,7 @@
       //#define BOARD_PROTO_1   // with MPU6050 + HMC5883L + MS baro
       //#define BOARD_PROTO_2   // with MPU6050 + slave  MAG3110 + MS baro
       //#define GY_80           // Chinese 10 DOF with  L3G4200D ADXL345 HMC5883L BMP085, LLC
+	  //#define GY_85           // Chinese 9 DOF with  ITG3205 ADXL345 HMC5883L LLC
       //#define GY_86           // Chinese 10 DOF with  MPU6050 HMC5883L MS5611, LLC
 
     /***************************    independent sensors    ********************************/
@@ -765,4 +766,4 @@
 
 /*************************************************************************************************/
 /****           END OF CONFIGURABLE PARAMETERS                                                ****/
-/*************************************************************************************************/
+/*************************************************************************************************/

def.h

@@ -690,6 +690,17 @@
   #define ADXL345_ADDRESS 0xA6
 #endif
 
+#if defined(GY_85)
+  #define ITG3200
+  #define ADXL345
+  #define HMC5883
+  #define ACC_ORIENTATION(X, Y, Z)  {accADC[ROLL]  = -X; accADC[PITCH]  = -Y; accADC[YAW]  =  Z;}
+  #define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] =  Y; gyroADC[PITCH] = -X; gyroADC[YAW] = -Z;}
+  #define MAG_ORIENTATION(X, Y, Z)  {magADC[ROLL]  =  X; magADC[PITCH]  =  Y; magADC[YAW]  = -Z;}
+  #undef INTERNAL_I2C_PULLUPS
+  #define ADXL345_ADDRESS 0xA6
+#endif
+
 #if defined(GY_86)
   #define MPU6050
   #define HMC5883