From 05ced4c784a4af983fd0f20d2dff44f221d1b1ce Mon Sep 17 00:00:00 2001
From: "timecop@gmail.com"
 <timecop@gmail.com@7c89a4a9-59b9-e629-4cfe-3a2d53b20e61>
Date: Sat, 14 Sep 2013 15:42:16 +0000
Subject: [PATCH] fixing mag heading. DO NOT FLY!

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@399 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
---
 src/imu.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/imu.c b/src/imu.c
index 7cd0adebf7..7a8a01f92f 100755
--- a/src/imu.c
+++ b/src/imu.c
@@ -319,7 +319,7 @@ static void getEstimatedAttitude(void)
         float Xh = magX * cp + magY * sr * sp + magZ * cr * sp;
         float Yh = magY * cr - magZ * sr;
         float hd = (atan2f(-Yh, Xh) * 1800.0f / M_PI + magneticDeclination) / 10.0f;
-        heading = hd;
+        heading = -hd;
         if (heading > 180)
             heading = heading - 360;
         else if (heading < -180)