Add pitch angle to AK8963 for Bebop

posix-configs/bebop/px4.config

@@ -17,9 +17,9 @@ param set MC_YAWRATE_P 0.05
 param set MC_YAWRATE_I 0.001
 param set MC_YAWRATE_D 0.0
 param set MC_YAW_FF 0.7
-#df_ms5607_wrapper start
+df_ms5607_wrapper start
 df_mpu6050_wrapper start -R 8
-df_ak8963_wrapper start -R 4
+df_ak8963_wrapper start -R 32
 sensors start
 commander start
 attitude_estimator_q start

src/lib/conversion/rotation.cpp

@@ -255,5 +255,15 @@ rotate_3f(enum Rotation rot, float &x, float &y, float &z)
 			y = z; z = -tmp;
 			return;
 		}
+
+	case ROTATION_PITCH_9_YAW_180: {
+			float tmpx = x;
+			float tmpy = y;
+			float tmpz = z;
+			x = -0.987688f * tmpx +  0.000000f * tmpy + -0.156434f * tmpz;
+			y =  0.000000f * tmpx + -1.000000f * tmpy +  0.000000f * tmpz;
+			z = -0.156434f * tmpx +  0.000000f * tmpy +  0.987688f * tmpz;
+			return;
+		}
 	}
 }

src/lib/conversion/rotation.h

@@ -80,6 +80,7 @@ enum Rotation {
 	ROTATION_PITCH_90_ROLL_90	 = 29,
 	ROTATION_YAW_293_PITCH_68_ROLL_90 = 30,
 	ROTATION_PITCH_90_ROLL_270	 = 31,
+	ROTATION_PITCH_9_YAW_180 = 32,
 	ROTATION_MAX
 };
 
@@ -122,6 +123,7 @@ const rot_lookup_t rot_lookup[] = {
 	{ 90,  90,   0 },
 	{ 90,  68, 293 },
 	{270,  90,   0 },
+	{  0,   9, 180 },
 };
 
 /**