From e45b862f1d372beb38b1cefce6664f74a6a06f92 Mon Sep 17 00:00:00 2001
From: Jaeyoung-Lim <jalim@ethz.ch>
Date: Mon, 28 Jun 2021 12:09:38 +0200
Subject: [PATCH] Specify orientaiton of ADIS16448 IMU from rc.sensors

Specify orientaiton of ADIS16448 IMU for from the rc.sensors

WIP: Currently only handling one orientation
---
 ROMFS/px4fmu_common/init.d/rc.sensors                |  9 ++++++++-
 .../imu/analog_devices/adis16448/parameters.c        | 12 ++++++++++++
 2 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index ace0571afc..f718d02d75 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -117,7 +117,14 @@ 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
 
 # probe for optional external I2C devices
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);