From: Keith Packard <keithp@keithp.com>
Date: Tue, 25 Feb 2020 19:58:17 +0000 (-0800)
Subject: altos/telemega-4.0: Fix signs of IMU pitch and mag across
X-Git-Tag: 1.9.2~2^2~7
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=9aedcdcab2c24b804236a5b8f99da634cac7ba05

altos/telemega-4.0: Fix signs of IMU pitch and mag across

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

diff --git a/src/telemega-v4.0/ao_pins.h b/src/telemega-v4.0/ao_pins.h
index dac3ae5f..84af615c 100644
--- a/src/telemega-v4.0/ao_pins.h
+++ b/src/telemega-v4.0/ao_pins.h
@@ -338,11 +338,11 @@ 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)
-#define ao_data_mag_across(packet)	(-(packet)->bmx160.mag_y)
+#define ao_data_mag_across(packet)	((packet)->bmx160.mag_y)
 #define ao_data_mag_through(packet)	((packet)->bmx160.mag_z)
 
 /* ADXL375 */