From 65947346eb8f9372c01910f6ecea310c2f3e1050 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 11 Mar 2016 15:08:59 -0800 Subject: [PATCH] df_hmc5883_wrapper: get the var swapping right --- .../posix/drivers/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/platforms/posix/drivers/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp b/src/platforms/posix/drivers/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp index 50a496a0f7..cbe2b27bfc 100644 --- a/src/platforms/posix/drivers/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp +++ b/src/platforms/posix/drivers/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp @@ -171,8 +171,9 @@ int DfHmc9250Wrapper::_publish(struct mag_sensor_data &data) /* The standard external mag by 3DR has x pointing to the * right, y pointing backwards, and z down, therefore switch x * and y and invert y. */ + const float tmp = data.field_x_ga; data.field_x_ga = -data.field_y_ga; - data.field_y_ga = data.field_x_ga; + data.field_y_ga = tmp; // TODO: remove these (or get the values) mag_report.x_raw = NAN;