USNA WSE ES456 / BNO055_fusion

BNO library commit with fork

Dependents:   ES456_Labs MadPulseCntrl MadPulseIMU MadPulse_Controller_ros

Fork of BNO055_fusion by Kenji Arai

Files at this revision

API Documentation at this revision

Revision 6:ae4be69ac7bb, committed 2016-09-19

Comitter:
jdawkins
Date:
Mon Sep 19 12:59:35 2016 +0000
Parent:
5:a44318a8bad4
Commit message:
Changed BNO005 Library to rotate mag axes from z-up to z-down. This was already done for the accels and gyros.

Changed in this revision

BNO055.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r a44318a8bad4 -r ae4be69ac7bb BNO055.cpp
--- a/BNO055.cpp	Wed Aug 17 20:30:46 2016 +0000
+++ b/BNO055.cpp	Mon Sep 19 12:59:35 2016 +0000
@@ -191,8 +191,8 @@
     mag.rawy = (rawdata[3] << 8 | rawdata[2]);
     mag.rawz = (rawdata[5] << 8 | rawdata[4]);
     mag.x = float(mag.rawx);
-    mag.y = float(mag.rawy);
-    mag.z = float(mag.rawz);
+    mag.y = float(mag.rawy)*(-1.0);
+    mag.z = float(mag.rawz)*(-1.0);
 }
 
 void BNO055::get_lia(void){