From 554a190f7821c663077354ea68ffca99c51a074c Mon Sep 17 00:00:00 2001
From: Cliff Geerdes <cliffsjunk@att.net>
Date: Tue, 29 Sep 2015 02:09:18 -0400
Subject: [PATCH] LP-135 simple port of fix to 15.09

---
 .../src/plugins/config/configrevowidget.cpp    | 18 ++++++++++++++++++
 .../gcs/src/plugins/config/configrevowidget.h  |  4 +++-
 2 files changed, 21 insertions(+), 1 deletion(-)

diff --git a/ground/gcs/src/plugins/config/configrevowidget.cpp b/ground/gcs/src/plugins/config/configrevowidget.cpp
index b483f7190..87c1bc29a 100644
--- a/ground/gcs/src/plugins/config/configrevowidget.cpp
+++ b/ground/gcs/src/plugins/config/configrevowidget.cpp
@@ -241,6 +241,16 @@ void ConfigRevoWidget::storeAndClearBoardRotation()
         data.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL]   = 0;
         data.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH]  = 0;
         attitudeSettings->setData(data);
+
+        // Store current aux mag board rotation
+        AuxMagSettings *auxMagSettings = AuxMagSettings::GetInstance(getObjectManager());
+        Q_ASSERT(auxMagSettings);
+        AuxMagSettings::DataFields auxMagData = auxMagSettings->getData();
+        auxMagStoredBoardRotation = auxMagData.Orientation;
+
+        // Set aux mag board rotation to no rotation
+        auxMagData.Orientation = 0.0f;
+        auxMagSettings->setData(auxMagData);
     }
 }
 
@@ -250,6 +260,7 @@ void ConfigRevoWidget::recallBoardRotation()
         // Recall current board rotation
         isBoardRotationStored = false;
 
+        // Restore the flight controller board rotation
         AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager());
         Q_ASSERT(attitudeSettings);
         AttitudeSettings::DataFields data  = attitudeSettings->getData();
@@ -257,6 +268,13 @@ void ConfigRevoWidget::recallBoardRotation()
         data.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL]  = storedBoardRotation[AttitudeSettings::BOARDROTATION_ROLL];
         data.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = storedBoardRotation[AttitudeSettings::BOARDROTATION_PITCH];
         attitudeSettings->setData(data);
+
+        // Restore the aux mag board rotation
+        AuxMagSettings *auxMagSettings = AuxMagSettings::GetInstance(getObjectManager());
+        Q_ASSERT(auxMagSettings);
+        AuxMagSettings::DataFields auxMagData = auxMagSettings->getData();
+        auxMagData.Orientation = auxMagStoredBoardRotation;
+        auxMagSettings->setData(auxMagData);
     }
 }
 
diff --git a/ground/gcs/src/plugins/config/configrevowidget.h b/ground/gcs/src/plugins/config/configrevowidget.h
index 5b19aa548..1d10c49b6 100644
--- a/ground/gcs/src/plugins/config/configrevowidget.h
+++ b/ground/gcs/src/plugins/config/configrevowidget.h
@@ -62,8 +62,10 @@ private:
 
     Ui_RevoSensorsWidget *m_ui;
 
-    // Board rotation store/recall
+    // Board rotation store/recall for FC and for aux mag
+
     qint16 storedBoardRotation[3];
+    float auxMagStoredBoardRotation;
     bool isBoardRotationStored;
 
 private slots: