;***************************************************************
; Prof. Christopher Russel
; If another rotation is needed to align with a different orientation
;
;    Csr = B * Cso
;    (CXsr)   (b11 b12 b13) (CXso)
;    (CYsr) = (b21 b22 b23) (CYso)
;    (CZsr)   (b31 b32 b33) (CZso)
;    where B, (bii) 3x1 is a roatation matrix (inverse = transpose)
;    with rows, columns have unit magnitude and are orthogonal.
; Therefore, bii's defaulted values will be set to 0 when i ne j and 1 when i=j,
; shown as above
;***************************************************************

function mag_rotation_cal, Cso, rot_cal
; This calibration function is used to make a correction for the rotation of the sensor
;
; Return values initialization
CXsr = 0
CYsr = 0
CZsr = 0
    CXsr = rot_cal(0,0)*Cso(0) + rot_cal(0,1)*Cso(1) + rot_cal(0,2)*Cso(2)
    CYsr = rot_cal(1,0)*Cso(0) + rot_cal(1,1)*Cso(1) + rot_cal(1,2)*Cso(2)
    CZsr = rot_cal(2,0)*Cso(0) + rot_cal(2,1)*Cso(1) + rot_cal(2,2)*Cso(2)
Csr = [CXsr, CYsr, CZsr]

return, Csr

end; end of function