altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

Diff: BMX055.cpp

Revision:
26:1da7c6204775
Parent:
25:fe14dbcef82d
Child:
28:21dfb161c67c
--- a/BMX055.cpp	Mon Jan 06 12:49:38 2020 +0000
+++ b/BMX055.cpp	Fri Jan 10 16:00:47 2020 +0000
@@ -90,9 +90,9 @@
     y = (int16_t) (((int16_t)dt[3] << 8) | dt[2]) >> 3;  // 13-bit signed integer for x-axis field
     z = (int16_t) (((int16_t)dt[5] << 8) | dt[4]) >> 1;  // 13-bit signed integer for x-axis field
     
-    magX = (double)x * 0.01f;
-    magY = (double)y * 0.01f;
-    magZ = (double)z * 0.01f;
+    magX = (double)y * 0.01f;       // MAGNETOMETER x-y are switched, see BMX055 datasheet page 161
+    magY = (double)x * 0.01f;       // x-y is switched
+    magZ = (double)z * 0.01f;       // z is z
 }
  
 float BMX055::get_chip_temperature()