From ffad7dc7596300f3893d4ce2585f034ef34a6984 Mon Sep 17 00:00:00 2001 From: Developer Date: Thu, 18 Feb 2016 22:58:12 +0100 Subject: [PATCH] Raw read, defect found, fixed and tested magnetometer --- sw/airborne/subsystems/imu/imu_bebop.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/sw/airborne/subsystems/imu/imu_bebop.c b/sw/airborne/subsystems/imu/imu_bebop.c index d8d97f54bd..8bbe51bfdc 100644 --- a/sw/airborne/subsystems/imu/imu_bebop.c +++ b/sw/airborne/subsystems/imu/imu_bebop.c @@ -134,8 +134,8 @@ void imu_bebop_event(void) #if BEBOP_VERSION2 // In the second bebop version the magneto is turned 90 degrees VECT3_ASSIGN(imu.mag_unscaled, -imu_bebop.ak.data.vect.x, -imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.z); -#else - VECT3_ASSIGN(imu.mag_unscaled, imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.x, imu_bebop.ak.data.vect.z); +#else //BEBOP regular first verion + VECT3_ASSIGN(imu.mag_unscaled, -imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.x, imu_bebop.ak.data.vect.z); #endif imu_bebop.ak.data_available = FALSE;