{"action":"created","comment":{"url":"https://api.github.com/repos/PX4/Firmware/pulls/comments/189743966","pull_request_review_id":121982262,"id":189743966,"diff_hunk":"@@ -209,14 +209,14 @@ MPU9250_mag::_measure(struct ak8963_regs data)\n \n \t/*\n \t * Align axes - note the accel & gryo are also re-aligned so this\n-\t *              doesn't look obvious with the datasheet\n+\t *              doesn't look obvious without the datasheet\n \t */\n-\tmrb.x_raw =  data.x;\n-\tmrb.y_raw = -data.y;\n+\tmrb.x_raw =  data.y;\n+\tmrb.y_raw =  data.x;\n \tmrb.z_raw = -data.z;\n \n-\tfloat xraw_f =  data.x;\n-\tfloat yraw_f = -data.y;\n+\tfloat xraw_f =  data.y;","path":"src/drivers/imu/mpu9250/mag.cpp","position":15,"original_position":15,"commit_id":"899d2c5486ab20255ef8b5042073fbed72543dc2","original_commit_id":"899d2c5486ab20255ef8b5042073fbed72543dc2","user":{"login":"mcsauder","id":2497951,"avatar_url":"https://avatars2.githubusercontent.com/u/2497951?v=4","gravatar_id":"","url":"https://api.github.com/users/mcsauder","html_url":"https://github.com/mcsauder","followers_url":"https://api.github.com/users/mcsauder/followers","following_url":"https://api.github.com/users/mcsauder/following{/other_user}","gists_url":"https://api.github.com/users/mcsauder/gists{/gist_id}","starred_url":"https://api.github.com/users/mcsauder/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mcsauder/subscriptions","organizations_url":"https://api.github.com/users/mcsauder/orgs","repos_url":"https://api.github.com/users/mcsauder/repos","events_url":"https://api.github.com/users/mcsauder/events{/privacy}","received_events_url":"https://api.github.com/users/mcsauder/received_events","type":"User","site_admin":false},"body":"To fix the driver for the generic case it's going to force each user to reset CAL_MAG0_ROT and recalibrate.  It seems important that this driver should be corrected to match the datasheet, both for the temperature and for the orientation.  Is it possible to slate this for the 2.0.0 release and (unfortunately) force users who upgrade to accept the backwards breakage for the mpu9250 along the lines of what I have suggested to #9054?","created_at":"2018-05-21T23:48:24Z","updated_at":"2018-05-21T23:48:24Z","html_url":"https://github.com/PX4/Firmware/pull/9459#discussion_r189743966","pull_request_url":"https://api.github.com/repos/PX4/Firmware/pulls/9459","author_association":"CONTRIBUTOR","_links":{"self":{"href":"https://api.github.com/repos/PX4/Firmware/pulls/comments/189743966"},"html":{"href":"https://github.com/PX4/Firmware/pull/9459#discussion_r189743966"},"pull_request":{"href":"https://api.github.com/repos/PX4/Firmware/pulls/9459"}},"in_reply_to_id":188111588},"pull_request":{"url":"https://api.github.com/repos/PX4/Firmware/pulls/9459","id":187880704,"html_url":"https://github.com/PX4/Firmware/pull/9459","diff_url":"https://github.com/PX4/Firmware/pull/9459.diff","patch_url":"https://github.com/PX4/Firmware/pull/9459.patch","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/9459","number":9459,"state":"open","locked":false,"title":"mpu9250 improvements","user":{"login":"dakejahl","id":37091262,"avatar_url":"https://avatars2.githubusercontent.com/u/37091262?v=4","gravatar_id":"","url":"https://api.github.com/users/dakejahl","html_url":"https://github.com/dakejahl","followers_url":"https://api.github.com/users/dakejahl/followers","following_url":"https://api.github.com/users/dakejahl/following{/other_user}","gists_url":"https://api.github.com/users/dakejahl/gists{/gist_id}","starred_url":"https://api.github.com/users/dakejahl/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dakejahl/subscriptions","organizations_url":"https://api.github.com/users/dakejahl/orgs","repos_url":"https://api.github.com/users/dakejahl/repos","events_url":"https://api.github.com/users/dakejahl/events{/privacy}","received_events_url":"https://api.github.com/users/dakejahl/received_events","type":"User","site_admin":false},"body":"Changed mag orientation to match gyro and accel. Corrected temperature calculation. Removed 'check_registers' function from the cycle loop. Deleted stale 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