AP_Compass: IST8310 chip does not follow right-hand rule format, flip z

8 years ago · 8415fde697
1 changed files with 3 additions and 0 deletions
--- a/libraries/AP_Compass/AP_Compass_IST8310.cpp
+++ b/libraries/AP_Compass/AP_Compass_IST8310.cpp
@ -183,6 +183,9 @@ void AP_Compass_IST8310::timer()
				@@ -183,6 +183,9 @@ void AP_Compass_IST8310::timer()
    auto y = static_cast<int16_t>(le16toh(buffer.ry));
    auto z = static_cast<int16_t>(le16toh(buffer.rz));

+    // flip Z to conform to right-hand rule convention
+    z = -z;
+
    /* convert uT to milligauss */
    Vector3f field = Vector3f{x * 3.0f, y * 3.0f, z * 3.0f};