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Sorry, finally got the axes of the external mag right

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Julian Oes
2013-08-20 20:00:16 +02:00
parent d2d59aa392
commit 307c9e52c7
1 changed files with 2 additions and 2 deletions
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src/drivers/hmc5883/hmc5883.cpp
+2 -2
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@@ -861,10 +861,10 @@ HMC5883::collect()
} else { } else {
#endif #endif
/* the standard external mag by 3DR has x pointing to the right, y pointing backwards, and z down, /* 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; _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 */ /* 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 */ /* z remains z */
_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
#ifdef PX4_I2C_BUS_ONBOARD #ifdef PX4_I2C_BUS_ONBOARD