Magnetometer data incorrectly referenced in non-DMP mode

vedranMv / tm4c_mpu9250

MPU9250 library for TI's Tiva TM4C1294 with I2C/SPI and DMP

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Magnetometer data incorrectly referenced in non-DMP mode #4

Closed vedranMv closed 3 years ago

vedranMv commented 3 years ago

When using an implementation with Mahony attitude estimation, the misalignment between IMU and magnetometer coordinate system is not taken into account, skewing data for 9DOF sensor fusion.

vedranMv commented 3 years ago

Fixed by d30d5a6