InvenSense MPU9250 move to PX4Accelerometer and PX4Gyroscope helpers

src/lib/drivers/magnetometer/PX4Magnetometer.cpp

@@ -104,8 +104,10 @@ void PX4Magnetometer::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_
 	float zraw_f = z;
 	rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
 
+	const matrix::Vector3f raw_f{xraw_f, yraw_f, zraw_f};
+
 	// Apply range scale and the calibrating offset/scale
-	const matrix::Vector3f val_calibrated{(((matrix::Vector3f{xraw_f, yraw_f, zraw_f} * report.scaling) - _calibration_offset).emult(_calibration_scale))};
+	const matrix::Vector3f val_calibrated{(((raw_f.emult(_sensitivity) * report.scaling) - _calibration_offset).emult(_calibration_scale))};
 
 	// Raw values (ADC units 0 - 65535)
 	report.x_raw = x;

src/lib/drivers/magnetometer/PX4Magnetometer.hpp

@@ -55,6 +55,7 @@ public:
 	void set_scale(float scale) { _sensor_mag_pub.get().scaling = scale; }
 	void set_temperature(float temperature) { _sensor_mag_pub.get().temperature = temperature; }
 	void set_external(bool external) { _sensor_mag_pub.get().is_external = external; }
+	void set_sensitivity(float x, float y, float z) { _sensitivity = matrix::Vector3f{x, y, z}; }
 
 	void update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z);
 
@@ -69,6 +70,8 @@ private:
 	matrix::Vector3f	_calibration_scale{1.0f, 1.0f, 1.0f};
 	matrix::Vector3f	_calibration_offset{0.0f, 0.0f, 0.0f};
 
+	matrix::Vector3f	_sensitivity{1.0f, 1.0f, 1.0f};
+
 	int			_class_device_instance{-1};
 
 };