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lsm9ds1_mag: fix orientation (#13925)

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- X is aligned with -X of lsm9ds1 accel/gyro
 - Z is up (RHC), flip z for publication
This commit is contained in:
Daniel Agar
2020-01-12 20:35:21 -05:00
committed by GitHub
parent f758a9f29d
commit 65c0882f97
1 changed files with 5 additions and 4 deletions
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src/drivers/magnetometer/lsm9ds1_mag/LSM9DS1_MAG.cpp
+5 -4
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@@ -194,10 +194,11 @@ void LSM9DS1_MAG::Run()
if (mreport.STATUS_REG_M & STATUS_REG_M_BIT::ZYXDA) { if (mreport.STATUS_REG_M & STATUS_REG_M_BIT::ZYXDA) {
// X, Y and Z-axis new data available. // X, Y and Z-axis new data available.
// sensor X is left, Y is back, and Z is up // sensor Z is up (RHC), flip z for publication
int16_t x = -combine(mreport.OUT_Y_L_M, mreport.OUT_Y_H_M); // X := -Y // sensor X is aligned with -X of lsm9ds1 accel/gyro
int16_t y = -combine(mreport.OUT_X_L_M, mreport.OUT_X_H_M); // Y := -X int16_t x = -combine(mreport.OUT_X_L_M, mreport.OUT_X_H_M);
int16_t z = -combine(mreport.OUT_Z_L_M, mreport.OUT_Z_H_M); // Z := -Z int16_t y = combine(mreport.OUT_Y_L_M, mreport.OUT_Y_H_M);
int16_t z = -combine(mreport.OUT_Z_L_M, mreport.OUT_Z_H_M);
_px4_mag.update(timestamp_sample, x, y, z); _px4_mag.update(timestamp_sample, x, y, z);
} }