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https://github.com/ArduPilot/ardupilot
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AP_Compass: fixed field orientation for MMC3416
the sensor is not FRD, and needs Y axis reversed to follow ArduPilot FRD convention for magnetometers
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@ -247,6 +247,10 @@ void AP_Compass_MMC3416::timer()
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#endif
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last_sample_ms = AP_HAL::millis();
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// sensor is not FRD
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field.y = -field.y;
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accumulate_sample(field, compass_instance);
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if (!dev->write_register(REG_CONTROL0, REG_CONTROL0_TM)) {
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@ -273,6 +277,9 @@ void AP_Compass_MMC3416::timer()
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field *= -counts_to_milliGauss;
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field += offset;
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// sensor is not FRD
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field.y = -field.y;
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last_sample_ms = AP_HAL::millis();
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accumulate_sample(field, compass_instance);
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