From 0b863e12638d093c31db57fd7e46854aac10002b Mon Sep 17 00:00:00 2001 From: elepete Date: Tue, 30 Jan 2018 22:35:21 +0100 Subject: [PATCH] Changed AK8963 axis inversion modified: src/main/drivers/compass/compass_ak8963.c - *-1 for mag values modified: src/main/target/SPRACINGF3EVO/target.h - default mag sensor orientation fixed --- src/main/drivers/compass/compass_ak8963.c | 6 +++--- src/main/target/SPRACINGF3EVO/target.h | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/drivers/compass/compass_ak8963.c b/src/main/drivers/compass/compass_ak8963.c index 498534d867..213e4d399b 100644 --- a/src/main/drivers/compass/compass_ak8963.c +++ b/src/main/drivers/compass/compass_ak8963.c @@ -330,9 +330,9 @@ static bool ak8963Read(magDev_t *mag, int16_t *magData) return false; } - magData[X] = -parseMag(buf + 0, mag->magGain[X]); - magData[Y] = -parseMag(buf + 2, mag->magGain[Y]); - magData[Z] = -parseMag(buf + 4, mag->magGain[Z]); + magData[X] = parseMag(buf + 0, mag->magGain[X]); + magData[Y] = parseMag(buf + 2, mag->magGain[Y]); + magData[Z] = parseMag(buf + 4, mag->magGain[Z]); return true; } diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h index 07591f40f0..0da392b6ea 100644 --- a/src/main/target/SPRACINGF3EVO/target.h +++ b/src/main/target/SPRACINGF3EVO/target.h @@ -79,7 +79,7 @@ #define USE_MAG_AK8963 //#define USE_MAG_HMC5883 // External -#define MAG_AK8963_ALIGN CW90_DEG_FLIP +#define MAG_AK8963_ALIGN CW270_DEG_FLIP //#define USE_RANGEFINDER //#define USE_RANGEFINDER_HCSR04