From: Keith Packard <keithp@keithp.com>
Date: Thu, 9 Feb 2023 23:22:17 +0000 (-0800)
Subject: altos/telemega-v6.0: bmi088 axes were wrong
X-Git-Tag: 1.9.15~1^2~12
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=58d13bd9bd0af42ebb3770038cd531e6ca5e9d30

altos/telemega-v6.0: bmi088 axes were wrong

X is 'along', Y is 'across'.

Signed-off-by: Keith Packard <keithp@keithp.com>
---

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)