From 7bea81f02c991d6e0a000cf305c3235d53e7252c Mon Sep 17 00:00:00 2001
From: Julien Lecoeur <julien.lecoeur@gmail.com>
Date: Thu, 5 Sep 2019 11:43:49 +0200
Subject: [PATCH] Add board orientation ROLL_90_YAW_270

---
 src/lib/conversion/rotation.cpp     | 8 ++++++++
 src/lib/conversion/rotation.h       | 2 ++
 src/modules/sensors/sensor_params.c | 1 +
 3 files changed, 11 insertions(+)

diff --git a/src/lib/conversion/rotation.cpp b/src/lib/conversion/rotation.cpp
index 0b508c5164..d2d6730e26 100644
--- a/src/lib/conversion/rotation.cpp
+++ b/src/lib/conversion/rotation.cpp
@@ -277,5 +277,13 @@ rotate_3f(enum Rotation rot, float &x, float &y, float &z)
 			x = tmp;
 			return;
 		}
+
+	case ROTATION_ROLL_90_YAW_270: {
+			tmp = x;
+			x = -z;
+			z = y;
+			y = -tmp;
+			return;
+		}
 	}
 }
diff --git a/src/lib/conversion/rotation.h b/src/lib/conversion/rotation.h
index d228177477..ce62e8d667 100644
--- a/src/lib/conversion/rotation.h
+++ b/src/lib/conversion/rotation.h
@@ -84,6 +84,7 @@ enum Rotation {
 	ROTATION_PITCH_9_YAW_180 = 32,
 	ROTATION_PITCH_45 = 33,
 	ROTATION_PITCH_315 = 34,
+	ROTATION_ROLL_90_YAW_270 = 35,
 	ROTATION_MAX
 };
 
@@ -129,6 +130,7 @@ const rot_lookup_t rot_lookup[] = {
 	{  0,   9, 180 },
 	{ 0,   45,   0 },
 	{ 0,  315,   0 },
+	{ 90,   0, 270 },
 };
 
 /**
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 17c898c67f..f322387629 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -161,6 +161,7 @@ PARAM_DEFINE_FLOAT(SENS_BARO_QNH, 1013.25f);
  * @value 32 Pitch 9°, Yaw 180°
  * @value 33 Pitch 45°
  * @value 34 Pitch 315°
+ * @value 35 Roll 90°, Yaw 270°
  *
  * @reboot_required true
  *