Diff: Magnetometer.cpp

Revision:

15:4488660e1a3b

Parent:

14:d9fbb3ccd482

Child:

32:d37447aec6b4

--- a/Magnetometer.cpp	Tue Mar 17 15:50:41 2015 +0000
+++ b/Magnetometer.cpp	Wed Mar 18 15:34:51 2015 +0000
@@ -77,7 +77,7 @@
     //read_reg(0x40, buffer, 4);
 
     // Datasheet is wrong, BMX055 magneto x and y axis are interchanged and y axis is inverted !!!
-    const int16_t mdata_y = *(reinterpret_cast<const int16_t*>(buffer + 0)) / -8;
+    const int16_t mdata_y = *(reinterpret_cast<const int16_t*>(buffer + 0)) / 8;
     const int16_t mdata_x = *(reinterpret_cast<const int16_t*>(buffer + 2)) / 8;
     const int16_t mdata_z = *(reinterpret_cast<const int16_t*>(buffer + 4)) / 2;
     const uint16_t data_r = *(reinterpret_cast<const uint16_t*>(buffer + 6)) / 4;
@@ -101,7 +101,7 @@
     float output[3];
     calibrator.run(input, output);
 
-    return Vector3(output[0], output[1], output[2]);
+    return Vector3(-output[0], output[1], output[2]);
 }
 
 void Magnetometer::readCalibrationData()