X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Ftelemega-v6.0%2Fao_pins.h;fp=src%2Ftelemega-v6.0%2Fao_pins.h;h=89af7ed2135107c95af3fc5459a43f00b500bd24;hb=58d13bd9bd0af42ebb3770038cd531e6ca5e9d30;hp=5bc224fe950ac97dde27ef82c8407537ea4e0d11;hpb=589c1af82a9bccff46ecb3aa0a557b9216b818a8;p=fw%2Faltos

diff --git a/src/telemega-v6.0/ao_pins.h b/src/telemega-v6.0/ao_pins.h
index 5bc224fe..89af7ed2 100644
--- a/src/telemega-v6.0/ao_pins.h
+++ b/src/telemega-v6.0/ao_pins.h
@@ -340,8 +340,8 @@ struct ao_adc {
  *
  *	pin 1 NE corner of chip
  *
- *	+along		+Y	+roll	+Y
- *	+across		-X	+pitch	-X
+ *	+along		+X	+roll	+X
+ *	+across		-Y	+pitch	-Y
  *	+through	+Z	+yaw	+Z
  */
 
@@ -353,12 +353,12 @@ struct ao_adc {
 #define AO_BMI088_GYR_CS_PIN	13
 #define HAS_IMU			1
 
-#define ao_bmi088_along(m)	((m)->acc.y)
-#define ao_bmi088_across(m)	(-(m)->acc.x)
+#define ao_bmi088_along(m)	((m)->acc.x)
+#define ao_bmi088_across(m)	((m)->acc.y)
 #define ao_bmi088_through(m)	((m)->acc.z)
 
-#define ao_bmi088_roll(m)	((m)->gyr.y)
-#define ao_bmi088_pitch(m)	(-(m)->gyr.x)
+#define ao_bmi088_roll(m)	((m)->gyr.x)
+#define ao_bmi088_pitch(m)	((m)->gyr.y)
 #define ao_bmi088_yaw(m)	((m)->gyr.z)
 
 #define ao_data_along(packet)	ao_bmi088_along(&(packet)->bmi088)