From d44b40255f4ddd06f7f9d257d02aab056965b2a5 Mon Sep 17 00:00:00 2001 From: softsr Date: Sun, 1 Sep 2013 22:45:47 -0700 Subject: [PATCH] Krooz imu fix --- sw/airborne/boards/krooz/imu_krooz.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sw/airborne/boards/krooz/imu_krooz.c b/sw/airborne/boards/krooz/imu_krooz.c index e120cbbea3..8d369be25a 100644 --- a/sw/airborne/boards/krooz/imu_krooz.c +++ b/sw/airborne/boards/krooz/imu_krooz.c @@ -180,7 +180,7 @@ void imu_krooz_event( void ) // If the HMC5883 I2C transaction has succeeded: convert the data hmc58xx_event(&imu_krooz.hmc); if (imu_krooz.hmc.data_available) { - VECT3_ASSIGN(imu.mag_unscaled, imu_krooz.hmc.data.vect.z, -imu_krooz.hmc.data.vect.x, imu_krooz.hmc.data.vect.y); + VECT3_ASSIGN(imu.mag_unscaled, imu_krooz.hmc.data.vect.y, -imu_krooz.hmc.data.vect.x, imu_krooz.hmc.data.vect.z); UpdateMedianFilterVect3Int(median_mag, imu.mag_unscaled); imu_krooz.hmc.data_available = FALSE; imu_krooz.mag_valid = TRUE;