From 9aedcdcab2c24b804236a5b8f99da634cac7ba05 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 25 Feb 2020 11:58:17 -0800 Subject: [PATCH] altos/telemega-4.0: Fix signs of IMU pitch and mag across Signed-off-by: Keith Packard --- src/telemega-v4.0/ao_pins.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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 */ -- 2.30.2