fixed mag output

mag output was actually accel output. needed to enable bypass mode on
the 9150, then enable the mag

firmware/MPU6050/MPU6050.cpp

@@ -1721,12 +1721,14 @@ void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int
 	getMotion6(ax, ay, az, gx, gy, gz);
 
 	//read mag
+	I2Cdev::writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer
+	delay(10);
+	I2Cdev::writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); //enable the magnetometer
+	delay(10);
 	I2Cdev::readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer);
 	*mx = (((int16_t)buffer[0]) << 8) | buffer[1];
     *my = (((int16_t)buffer[2]) << 8) | buffer[3];
-    *mz = (((int16_t)buffer[4]) << 8) | buffer[5];
-
-
+    *mz = (((int16_t)buffer[4]) << 8) | buffer[5];		
 }
 /** Get raw 6-axis motion sensor readings (accel/gyro).
  * Retrieves all currently available motion sensor values.