#define ao_data_through(packet) ((packet)->bmx160.acc_z)
#define ao_data_roll(packet) ((packet)->bmx160.gyr_x)
-#define ao_data_pitch(packet) ((packet)->bmx160.gyr_y)
+#define ao_data_pitch(packet) (-(packet)->bmx160.gyr_y)
#define ao_data_yaw(packet) ((packet)->bmx160.gyr_z)
#define ao_data_mag_along(packet) ((packet)->bmx160.mag_x)
-#define ao_data_mag_across(packet) (-(packet)->bmx160.mag_y)
+#define ao_data_mag_across(packet) ((packet)->bmx160.mag_y)
#define ao_data_mag_through(packet) ((packet)->bmx160.mag_z)
/* ADXL375 */