[paparazzi-commits] [6102] Fix signs on v1.2 IMU Mag sensors

[Allen Ibara]

Revision: 6102
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6102
Author:   aibara
Date:     2010-10-08 05:04:45 +0000 (Fri, 08 Oct 2010)
Log Message:
-----------
Fix signs on v1.2 IMU Mag sensors

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h

Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h      
2010-10-08 04:39:16 UTC (rev 6101)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h      
2010-10-08 05:04:45 UTC (rev 6102)
@@ -107,7 +107,6 @@
 #endif /* IMU_B2_VERSION_1_1 */
 
 #ifdef IMU_B2_VERSION_1_2
-/* FIXME mag still based on 1.1 */
 /* Default IMU b2 sensors connection */
 #if !defined IMU_GYRO_P_CHAN & !defined IMU_GYRO_Q_CHAN & !defined 
IMU_GYRO_R_CHAN
 #define IMU_GYRO_P_CHAN  1
@@ -136,8 +135,8 @@
 #define IMU_ACCEL_Z_SIGN  1
 #endif
 #if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
-#define IMU_MAG_X_SIGN    1
-#define IMU_MAG_Y_SIGN   -1
+#define IMU_MAG_X_SIGN   -1
+#define IMU_MAG_Y_SIGN    1
 #define IMU_MAG_Z_SIGN   -1
 #endif
 #endif /* IMU_B2_VERSION_1_2 */