diff --git a/src/drivers/mpu9250/mag.cpp b/src/drivers/mpu9250/mag.cpp
index 3e19c8cfea..477373f738 100755
--- a/src/drivers/mpu9250/mag.cpp
+++ b/src/drivers/mpu9250/mag.cpp
@@ -255,7 +255,7 @@ MPU9250_mag::measure(struct ak8963_regs data)
 
 	mag_report		mrb;
 	mrb.timestamp = hrt_absolute_time();
-
+#if 0
 	mrb.x_raw = data.x;
 	mrb.y_raw = data.y;
 	mrb.z_raw = data.z;
@@ -263,6 +263,14 @@ MPU9250_mag::measure(struct ak8963_regs data)
 	float xraw_f = data.x;
 	float yraw_f = data.y;
 	float zraw_f = data.z;
+#endif
+	mrb.x_raw = data.y;
+	mrb.y_raw = data.x;
+	mrb.z_raw = -data.z;
+
+	float xraw_f = data.y;
+	float yraw_f = data.x;
+	float zraw_f = -data.z;
 
 	/* apply user specified rotation */
 	rotate_3f(_parent->_rotation, xraw_f, yraw_f, zraw_f);
@@ -489,7 +497,7 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
 		return 48; // fixed full scale measurement range of +/- 4800 uT == 48 Gauss
 
 	case MAGIOCSELFTEST:
-		printf("MPU9250_mag::ioctl() MAGIOCSELFTEST\n");
+//		printf("MPU9250_mag::ioctl() MAGIOCSELFTEST\n");
 		return self_test();
 
 #ifdef MAGIOCSHWLOWPASS
@@ -514,7 +522,7 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
 int
 MPU9250_mag::self_test(void)
 {
-	return 1;
+	return 0;
 }
 
 void