bmx055 magnetometer fix reference frame (#21026)

selfdrive/sensord/sensors/bmx055_magn.cc

@@ -216,18 +216,22 @@ bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *
 void BMX055_Magn::get_event(cereal::SensorEventData::Builder &event){
   uint64_t start_time = nanos_since_boot();
   uint8_t buffer[8];
-  int16_t x, y, z;
+  int16_t _x, _y, x, y, z;
 
   int len = read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
   assert(len == sizeof(buffer));
 
-  if (parse_xyz(buffer, &x, &y, &z)){
+  if (parse_xyz(buffer, &_x, &_y, &z)){
     event.setSource(cereal::SensorEventData::SensorSource::BMX055);
-    event.setVersion(1);
+    event.setVersion(2);
     event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED);
     event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED);
     event.setTimestamp(start_time);
 
+    // Move magnetometer into same reference frame as accel/gryo
+    x = -_y;
+    y = _x;
+
     // Axis convention
     x = -x;
     y = -y;