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| author | Julian Oes <julian@oes.ch> | 2013-08-20 19:50:58 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-08-20 20:00:16 +0200 |
| commit | 307c9e52c775de2ce09ff4abf0bc1fb5db6dd41e (patch) | |
| tree | 3a4046da663893769ada839d47e0a8a28ac15f3a /src/drivers/hmc5883 | |
| parent | d2d59aa39278de9461ff72061cbd8a89d7e81f4b (diff) | |
| download | px4-firmware-307c9e52c775de2ce09ff4abf0bc1fb5db6dd41e.tar.gz px4-firmware-307c9e52c775de2ce09ff4abf0bc1fb5db6dd41e.tar.bz2 px4-firmware-307c9e52c775de2ce09ff4abf0bc1fb5db6dd41e.zip | |
Sorry, finally got the axes of the external mag right
Diffstat (limited to 'src/drivers/hmc5883')
| -rw-r--r-- | src/drivers/hmc5883/hmc5883.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index 692f890bd..44304fc22 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -861,10 +861,10 @@ HMC5883::collect() } else { #endif /* the standard external mag by 3DR has x pointing to the right, y pointing backwards, and z down, - * therefore switch and invert x and y */ + * therefore switch x and y and invert y */ _reports[_next_report].x = ((((report.y == -32768) ? 32767 : -report.y) * _range_scale) - _scale.x_offset) * _scale.x_scale; /* flip axes and negate value for y */ - _reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale; + _reports[_next_report].y = ((report.x * _range_scale) - _scale.y_offset) * _scale.y_scale; /* z remains z */ _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; #ifdef PX4_I2C_BUS_ONBOARD |