Option to invert the roll axis, used for older versions of AOG

Author: eringerli

src/autosteer.cpp

@@ -359,6 +359,10 @@ void autosteerWorker100Hz( void* z ) {
 
             if ( initialisation.inclinoType != SteerConfig::InclinoType::None ) {
               roll = steerImuInclinometerData.roll * 16;
+
+              if ( steerConfig.invertRoll ) {
+                roll = -roll;
+              }
             } else {
               roll = 9999;
             }

src/main.cpp

@@ -782,6 +782,13 @@ void setup( void ) {
       ESPUI.addControl( ControlType::Option, "FXOS8700/FXAS21002", "3", ControlColor::Alizarin, sel );
     }
 
+    {
+      ESPUI.addControl( ControlType::Switcher, "Invert Roll Axis (enable for older versions of AgOpenGPS)", steerConfig.invertRoll ? "1" : "0", ControlColor::Peterriver, tab,
+      []( Control * control, int id ) {
+        steerConfig.invertRoll = control->value.toInt() == 1;
+      } );
+    }
+
     {
       uint16_t num = ESPUI.addControl( ControlType::Number, "Mounting Correction (Roll) of Imu", String( steerConfig.mountCorrectionImuRoll ), ControlColor::Peterriver, tab,
       []( Control * control, int id ) {

src/main.hpp

@@ -188,6 +188,8 @@ struct SteerConfig {
     Fxos8700Fxas21002
   } inclinoType = InclinoType::None;
 
+  bool invertRoll = false;
+
   bool sendCalibrationDataFromImu = false;
 
   float mountCorrectionImuRoll = 0;