Raw read, defect found, fixed and tested magnetometer

paparazzi · Feb 18, 2016 · ffad7dc · ffad7dc
1 parent dbb0c6c
commit ffad7dc
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/sw/airborne/subsystems/imu/imu_bebop.c b/sw/airborne/subsystems/imu/imu_bebop.c
@@ -134,8 +134,8 @@ void imu_bebop_event(void)
 #if BEBOP_VERSION2
     // In the second bebop version the magneto is turned 90 degrees
     VECT3_ASSIGN(imu.mag_unscaled, -imu_bebop.ak.data.vect.x, -imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.z);
-#else
-    VECT3_ASSIGN(imu.mag_unscaled, imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.x, imu_bebop.ak.data.vect.z);
+#else //BEBOP regular first verion
+    VECT3_ASSIGN(imu.mag_unscaled, -imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.x, imu_bebop.ak.data.vect.z);
 #endif
 
     imu_bebop.ak.data_available = FALSE;