{"action":"created","issue":{"url":"https://api.github.com/repos/kriswiner/MPU-9250/issues/34","labels_url":"https://api.github.com/repos/kriswiner/MPU-9250/issues/34/labels{/name}","comments_url":"https://api.github.com/repos/kriswiner/MPU-9250/issues/34/comments","events_url":"https://api.github.com/repos/kriswiner/MPU-9250/issues/34/events","html_url":"https://github.com/kriswiner/MPU-9250/issues/34","id":119552029,"number":34,"title":"accelerometer and magnetometer orientation","user":{"login":"alexx600","id":16086851,"avatar_url":"https://avatars.githubusercontent.com/u/16086851?v=3","gravatar_id":"","url":"https://api.github.com/users/alexx600","html_url":"https://github.com/alexx600","followers_url":"https://api.github.com/users/alexx600/followers","following_url":"https://api.github.com/users/alexx600/following{/other_user}","gists_url":"https://api.github.com/users/alexx600/gists{/gist_id}","starred_url":"https://api.github.com/users/alexx600/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/alexx600/subscriptions","organizations_url":"https://api.github.com/users/alexx600/orgs","repos_url":"https://api.github.com/users/alexx600/repos","events_url":"https://api.github.com/users/alexx600/events{/privacy}","received_events_url":"https://api.github.com/users/alexx600/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2015-11-30T18:32:21Z","updated_at":"2015-11-30T19:22:39Z","closed_at":null,"body":"Hello! I have a few question to your MPU9250BasicAHRS.ino file. \r\n\r\n// Sensors x (y) -axis of the accelerometer is aligned with the y (x) -axis of the magnetometer; // The z-axis magnetometer (+ Down) is opposite to the z-axis (+ up) of accelerometer and gyro! // We have to make some allowance for this orientationmismatch in feeding the output to the quaternion filter. // For the MPU-9250, we have chosen a magnetic rotation sensor That keeps the forwards along the x-axis just like // in the LSM9DS0 sensor. This rotation can be modified is allow any convenient orientation convention. // This is ok to aircraft orientation standards! // Pass rate gyro as rad / s\r\n// Madgwick Quaternion Update (ax, ay, az, GX * PI / 180.0f, gy * PI / 180.0f, g * PI / 180.0f, we, x, m); Mahony Quaternion Update (ax, ay, az, GX * PI / 180.0f, gy * PI / 180.0f, g * PI / 180.0f, we, x, m);\r\n\r\n\r\n1.Why you did not use -mz instead of mz? I  mean\r\nMahonyQuaternionUpdate (ax, ay, az, GX * PI / 180.0f, gy * PI / 180.0f, g * PI / 180.0f, my mx -mz);\r\nWhy in your code mz is positive?\r\n2. Is it necessary that calculate mx,my,mz is gauss? In the filter is normalized it anyway? Or I am wrong?"},"comment":{"url":"https://api.github.com/repos/kriswiner/MPU-9250/issues/comments/160731455","html_url":"https://github.com/kriswiner/MPU-9250/issues/34#issuecomment-160731455","issue_url":"https://api.github.com/repos/kriswiner/MPU-9250/issues/34","id":160731455,"user":{"login":"alexx600","id":16086851,"avatar_url":"https://avatars.githubusercontent.com/u/16086851?v=3","gravatar_id":"","url":"https://api.github.com/users/alexx600","html_url":"https://github.com/alexx600","followers_url":"https://api.github.com/users/alexx600/followers","following_url":"https://api.github.com/users/alexx600/following{/other_user}","gists_url":"https://api.github.com/users/alexx600/gists{/gist_id}","starred_url":"https://api.github.com/users/alexx600/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/alexx600/subscriptions","organizations_url":"https://api.github.com/users/alexx600/orgs","repos_url":"https://api.github.com/users/alexx600/repos","events_url":"https://api.github.com/users/alexx600/events{/privacy}","received_events_url":"https://api.github.com/users/alexx600/received_events","type":"User","site_admin":false},"created_at":"2015-11-30T19:22:39Z","updated_at":"2015-11-30T19:22:39Z","body":"OKAY.\r\nAll the time and do not understand why you do not use -mz? Could you tell something about it?\r\n\r\nI am using microprocessor stm32f401 on the board evaluation discovery. And I have a huge problem with magnetometer. Axles what I assume are presented in the picture below\r\n http://obrazki.elektroda.pl/9993576100_1448821919.jpg\r\nIf you wanted to have a look. What kind of parameters should call the function?\r\nMahonyQuaternionUpdate (ax, ay, az, gx, gy, g, x, we, -mz); ?\r\n\r\n\r\n"}}