Strange Magnetometer Data

Created by: msardonini

I've been seeing some strange magnetometer data coming out of the robotics cape library and my BB Blue. Here is a snippet of a log I took, which is just the "mag" field array within the "imu_data_t" structure. The recording is of one slow 360 degree spin (x axis is in seconds).

The X-Direction seems to be behaving, Y is ~0 (not actually zero) and Z is nonsense. Perhaps the wrong bytes are being parsed from the i2c read?

I started investigating this when I noticed the fused yaw angle was becoming unstable, which using magnetometer heading to correct for gyro drift. Has anyone else seen similar behavior?