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mpu9250: fix magnetometer component issue introduced with #200 (#224)

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Kitlith
2023-01-23 13:08:23 -08:00
committed by GitHub
parent db525088bd
commit 312037fedb
1 changed files with 2 additions and 2 deletions
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4
src/sensors/mpu9250sensor.cpp
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@@ -260,7 +260,7 @@ void MPU9250Sensor::startCalibration(int calibrationType) {
ledManager.on();
int16_t mx,my,mz;
imu.getMagnetometer(&mx, &my, &mz);
magneto->sample(mx, my, mz);
magneto->sample(my, mx, -mz);
float rawMagFloat[3] = { (float)mx, (float)my, (float)mz};
Network::sendRawCalibrationData(rawMagFloat, CALIBRATION_TYPE_EXTERNAL_MAG, 0);
@@ -335,7 +335,7 @@ void MPU9250Sensor::startCalibration(int calibrationType) {
int16_t ax,ay,az,gx,gy,gz,mx,my,mz;
imu.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
magneto_acc->sample(ax, ay, az);
magneto_mag->sample(mx, my, -mz);
magneto_mag->sample(my, mx, -mz);
// Thought: since we're sending the samples to the server anyway,
// we could make the server run magneto for us.