altos/altoslib: BMX160 Y axis gyro direction is opposite from MPU

[fw/altos] / src / telemega-v4.0 / ao_pins.h

diff --git a/src/telemega-v4.0/ao_pins.h b/src/telemega-v4.0/ao_pins.h
index 47dfd015566a6a99b09106ef7d1924b2f81b1ef9..dac3ae5fb92dc08936d18c9ec4db96917f9a2cc2 100644 (file)
--- a/src/telemega-v4.0/ao_pins.h
+++ b/src/telemega-v4.0/ao_pins.h
@@ -69,7 +69,7 @@
 #define AO_CONFIG_MAX_SIZE                     1024
 #define LOG_ERASE_MARK                         0x55
 #define LOG_MAX_ERASE                          128
-#define AO_LOG_FORMAT                          AO_LOG_FORMAT_TELEMEGA_3
+#define AO_LOG_FORMAT                          AO_LOG_FORMAT_TELEMEGA_4
 
 #define HAS_EEPROM             1
 #define USE_INTERNAL_FLASH     0
@@ -338,7 +338,7 @@ struct ao_adc {
 #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)