Fixed axis assignment and raw value outputs. Scaling and offsets to be done

2 files changed, 26 insertions, 10 deletions

diff --git a/apps/drivers/hmc5883/hmc5883.cpp b/apps/drivers/hmc5883/hmc5883.cpp
index d1025bcc6..cd198b6e6 100644
--- a/apps/drivers/hmc5883/hmc5883.cpp
+++ b/apps/drivers/hmc5883/hmc5883.cpp
@@ -658,9 +658,18 @@ HMC5883::collect()
 	    (abs(report.z) > 2048))
 		goto out;
 
+	/* raw outputs */
+	/* to align the sensor axes with the board, x and y need to be flipped */
+	_reports[_next_report].x_raw = report.y;
+	_reports[_next_report].y_raw = report.x;
+	/* z remains z */
+	_reports[_next_report].z_raw = report.z;
+
 	/* scale values for output */
-	_reports[_next_report].x = report.x * _scale.x_scale + _scale.x_offset;
-	_reports[_next_report].y = report.y * _scale.y_scale + _scale.y_offset;
+	/* to align the sensor axes with the board, x and y need to be flipped */
+	_reports[_next_report].x = report.y * _scale.x_scale + _scale.x_offset;
+	_reports[_next_report].y = report.x * _scale.y_scale + _scale.y_offset;
+	/* z remains z */
 	_reports[_next_report].z = report.z * _scale.z_scale + _scale.z_offset;
 
 	/* publish it */
diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp
index 3afb0ddda..77b5aaa98 100644
--- a/apps/drivers/mpu6000/mpu6000.cpp
+++ b/apps/drivers/mpu6000/mpu6000.cpp
@@ -790,22 +790,29 @@ MPU6000::measure()
 	 */
 	_gyro_report.timestamp = _accel_report.timestamp = hrt_absolute_time();
 
-	_accel_report.x_raw = report.accel_x;
+	/* to align the sensor axes with the board, x and y need to be flipped */
+	_accel_report.x_raw = report.accel_y;
 	_accel_report.y_raw = report.accel_x;
-	_accel_report.z_raw = report.accel_x;
+	/* z remains z and has the right sign */
+	_accel_report.z_raw = report.accel_z;
 
-	_accel_report.x = report.accel_x * _accel_range_scale;
-	_accel_report.y = report.accel_y * _accel_range_scale;
+	/* to align the sensor axes with the board, x and y need to be flipped */
+	_accel_report.x = report.accel_y * _accel_range_scale;
+	_accel_report.y = report.accel_x * _accel_range_scale;
+	/* z remains z and has the right sign */
 	_accel_report.z = report.accel_z * _accel_range_scale;
 	_accel_report.scaling = _accel_range_scale;
 	_accel_report.range_m_s2 = _accel_range_m_s2;
 
-	_gyro_report.x_raw = report.gyro_x;
-	_gyro_report.y_raw = report.gyro_y;
+	/* to align the sensor axes with the board, x and y need to be flipped */
+	_gyro_report.x_raw = report.gyro_y;
+	_gyro_report.y_raw = report.gyro_x;
+	/* z remains z and has the right sign */
 	_gyro_report.z_raw = report.gyro_z;
 
-	_gyro_report.x = report.gyro_x * _gyro_range_scale;
-	_gyro_report.y = report.gyro_y * _gyro_range_scale;
+	_gyro_report.x = report.gyro_y * _gyro_range_scale;
+	_gyro_report.y = report.gyro_x * _gyro_range_scale;
+	/* z remains z and has the right sign */
 	_gyro_report.z = report.gyro_z * _gyro_range_scale;
 	_gyro_report.scaling = _gyro_range_scale;
 	_gyro_report.range_rad_s = _gyro_range_rad_s;