From 4a590c5fd6c593fc7a4fddbb683500f79913ab2a Mon Sep 17 00:00:00 2001
From: Jaeyoung-Lim <jalim@ethz.ch>
Date: Mon, 28 Jun 2021 11:50:23 +0200
Subject: [PATCH] Specify orientaiton of ADIS16448 IMU for EZG from autostart
 script

Specify orientaiton of ADIS16448 IMU for EZG from autostart script
---
 .../init.d/airframes/22000_asl_easyglider            |  1 +
 ROMFS/px4fmu_common/init.d/rc.sensors                |  9 ++++++++-
 .../imu/analog_devices/adis16448/parameters.c        | 12 ++++++++++++
 3 files changed, 21 insertions(+), 1 deletion(-)

diff --git a/ROMFS/px4fmu_common/init.d/airframes/22000_asl_easyglider b/ROMFS/px4fmu_common/init.d/airframes/22000_asl_easyglider
index 33073ff72b..2399fd34f1 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/22000_asl_easyglider
+++ b/ROMFS/px4fmu_common/init.d/airframes/22000_asl_easyglider
@@ -45,6 +45,7 @@ then
     param set PWM_DISARMED 1000
 
     param set-default SENS_EN_ADIS164X 1
+    param set SENS_EN_ADIS164X 4
 fi
 
 set MIXER asl_easyglider
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index af52b6826d..cc6d2d713c 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -111,7 +111,14 @@ fi
 # ADIS16448 spi external IMU
 if param compare -s SENS_EN_ADIS164X 1
 then
-	adis16448 -S start
+	if param compare -s SENS_OR_ADIS164X 0
+	then
+		adis16448 -S start
+	fi
+	if param compare -s SENS_OR_ADIS164X 4
+	then
+		adis16448 -S start -R 4
+	fi
 fi
 
 # Hall effect sensors si7210
diff --git a/src/drivers/imu/analog_devices/adis16448/parameters.c b/src/drivers/imu/analog_devices/adis16448/parameters.c
index 9b44b9e2c4..9b33736092 100644
--- a/src/drivers/imu/analog_devices/adis16448/parameters.c
+++ b/src/drivers/imu/analog_devices/adis16448/parameters.c
@@ -42,3 +42,15 @@
  * @value 1 Enabled
   */
 PARAM_DEFINE_INT32(SENS_EN_ADIS164X, 0);
+
+/**
+ * Analog Devices ADIS16448 IMU Orientation(external SPI)
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 101
+ * @group Sensors
+ * @value 0 ROTATION_NONE
+ * @value 4 ROTATION_YAW_180
+  */
+PARAM_DEFINE_INT32(SENS_OR_ADIS164X, 0);