altos: Reset TMega v6.0 BMI axes to not adjust any signs

[fw/altos] / src / telemega-v5.0 / ao_pins.h

diff --git a/src/telemega-v5.0/ao_pins.h b/src/telemega-v5.0/ao_pins.h
index 3f2c9ea44e5365a8c7862499c874b21a8c6a7d50..03b9c142c52930160a0bdde49511d6dd8e59503a 100644 (file)
--- a/src/telemega-v5.0/ao_pins.h
+++ b/src/telemega-v5.0/ao_pins.h
@@ -344,7 +344,7 @@ struct ao_adc {
  *     pin 1 NW corner of chip
  *
  *     +along          +Y      +roll   +Y
- *     +across         -X      +pitch  -X
+ *     +across         +X      +pitch  +X
  *     +through        +Z      +yaw    +Z
  *
  */
@@ -358,11 +358,11 @@ struct ao_adc {
 #define HAS_IMU                        1
 
 #define ao_mpu6000_along(m)    ((m)->accel_y)
-#define ao_mpu6000_across(m)   (-(m)->accel_x)
+#define ao_mpu6000_across(m)   ((m)->accel_x)
 #define ao_mpu6000_through(m)  ((m)->accel_z)
 
 #define ao_mpu6000_roll(m)     ((m)->gyro_y)
-#define ao_mpu6000_pitch(m)    (-(m)->gyro_x)
+#define ao_mpu6000_pitch(m)    ((m)->gyro_x)
 #define ao_mpu6000_yaw(m)      ((m)->gyro_z)
 
 #define ao_data_along(packet)  ao_mpu6000_along(&(packet)->mpu6000)