Pixhawk compass rotation

Hi there,

I was just wondering, does anyone know if you can setup the pixhawk in mission planner to know if it is installed in a plane off angle? Like if i installed it 90 degrees to the left or right, i can tell it and it will calibrate and correct that?

http://ardupilot.org/copter/docs/common-compass-setup-advanced.html for external compass

and here for FC other than forward. ( AHRS_Orientation):

Sweet, Thanks alot Joe!