MPU6050 accel and gyro values swapped

[ric96]

I am using the following code to print out MPU6050's values:

sensor_channel_get(mpu6050, SENSOR_CHAN_ACCEL_XYZ, accel);
sensor_channel_get(mpu6050, SENSOR_CHAN_GYRO_XYZ, gyro);
sensor_channel_get(mpu6050, SENSOR_CHAN_AMBIENT_TEMP, &temperature);

printf("Temp: %d.%06d\n"
          "Accel\tX: %d.%06d\tY: %d.%06d\tZ: %d.%06d\n"
          "Gyro\tX:%d.%06d\tY :%d.%06d\tZ: %d.%06d\n",
          temperature.val1, temperature.val2,
          accel[0].val1, accel[0].val2, accel[1].val1, accel[1].val2, accel[2].val1, accel[2].val2,
          gyro[0].val1, gyro[0].val2, gyro[1].val1, gyro[1].val2, gyro[1].val1, gyro[1].val2);

And with the sensor still at an angle, here is the output i am getting:

Temp: 30.224118
Accel   X: -3.-320758   Y: -1.-86968    Z: 8.693346
Gyro    X:0.-08393      Y :0.004263     Z: 0.004263

Ans you can see its showing a constant acceleration, when i gently move the unit the accel values change as if they were gyro values and when i shake the sensor the gyro values spike and they are normally stable at approx 0.0

The are clearly swapped.

when looking at this bit of the driver code, I thought that it might be a byte order issue, so gyro_z becomes buf[0] and accel_x becomes buf[6] but that doesn't seem to be the case as it does put the accel and gyro data in the correct place but the axis are all swapped

drv_data->accel_x = sys_be16_to_cpu(buf[0]);
drv_data->accel_y = sys_be16_to_cpu(buf[1]);
drv_data->accel_z = sys_be16_to_cpu(buf[2]);
drv_data->temp = sys_be16_to_cpu(buf[3]);
drv_data->gyro_x = sys_be16_to_cpu(buf[4]);
drv_data->gyro_y = sys_be16_to_cpu(buf[5]);
drv_data->gyro_z = sys_be16_to_cpu(buf[6]);

For whatever reason this assignment gave me the nearest reading, it doesn't follow the datasheet at all and so its probably not the correct solution or not even where the issue might be

drv_data->accel_x = sys_be16_to_cpu(buf[4]);
drv_data->accel_y = sys_be16_to_cpu(buf[5]);
drv_data->accel_z = sys_be16_to_cpu(buf[6]);
drv_data->temp = sys_be16_to_cpu(buf[3]);
drv_data->gyro_x = sys_be16_to_cpu(buf[1]);
drv_data->gyro_y = sys_be16_to_cpu(buf[0]);
drv_data->gyro_z = sys_be16_to_cpu(buf[2]);

[ric96]

Closing, sorry for the noise. For some reason my understanding of accel and gyro was swapped.