;***************************************************************
; Prof. Christopher Russel
; Orthonormalize the vectors so the point at 90 degree to each other and have
; the same gain.
;    Cso = M * Cic
;    (CXso)   (a11 a12 a13) (CXic)
;    (CYso) = (a21 a22 a23) (CYic)
;    (CZso)   (a31 a32 a33) (CZic)
;
;    where M, (aii) 3x3 is close to
;          (1 0 0)
;          (0 1 0)
;          (0 0 1)
;    and   CXso, CYso CZso are the corrected and normalized vector components
; Therefore, aii's defaulted values will be set to 0 when i ne j and 1 when i=j,
; shown as above
;***************************************************************

function mag_sensor_orth_correction, Cic, orth_cal
; This calibration function is used to make a correction for the orthogonality of the sensor
;
; Return values initialization
CXso = 0
CYso = 0
CZso = 0
    CXso = orth_cal(0,0)*Cic(0) + orth_cal(0,1)*Cic(1) + orth_cal(0,2)*Cic(2)
    CYso = orth_cal(1,0)*Cic(0) + orth_cal(1,1)*Cic(1) + orth_cal(1,2)*Cic(2)
    CZso = orth_cal(2,0)*Cic(0) + orth_cal(2,1)*Cic(1) + orth_cal(2,2)*Cic(2)
Cso = [CXso, CYso, CZso]

return, Cso

end; end of function