AHRS
Dependencies: Eigen
Diff: BMX055.cpp
- Revision:
- 26:1da7c6204775
- Parent:
- 25:fe14dbcef82d
- Child:
- 28:21dfb161c67c
diff -r fe14dbcef82d -r 1da7c6204775 BMX055.cpp --- 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()