From 58d13bd9bd0af42ebb3770038cd531e6ca5e9d30 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 9 Feb 2023 15:22:17 -0800 Subject: [PATCH] altos/telemega-v6.0: bmi088 axes were wrong X is 'along', Y is 'across'. Signed-off-by: Keith Packard --- src/telemega-v6.0/ao_pins.h | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) 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) -- 2.30.2