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[imu] mpu9250 mag has a different channel order than gyro/accel

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Gautier Hattenberger
2014-11-18 14:08:28 +01:00
parent 4258f43206
commit ec865d84f0
1 changed files with 2 additions and 2 deletions
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sw/airborne/subsystems/imu/imu_mpu9250_i2c.c
+2 -2
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@@ -141,9 +141,9 @@ void imu_mpu9250_event(void)
// Test if mag data are updated
if (imu_mpu9250.mpu.akm.data_available) {
struct Int32Vect3 mag = {
(int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_X]),
(int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_Y]),
(int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_Z])
(int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_X]),
-(int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_Z])
};
VECT3_COPY(imu.mag_unscaled, mag);
imu_mpu9250.mag_valid = TRUE;