fix: gyro sign

ClemensElflein · Nov 7, 2022 · 08839e3 · 08839e3
1 parent 7930816
commit 08839e3
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/Firmware/LowLevel/src/imu/MPU9250/imu.cpp b/Firmware/LowLevel/src/imu/MPU9250/imu.cpp
@@ -26,7 +26,7 @@ bool imu_read(float *acceleration_mss, float *gyro_rads, float *mag_uT)
 
     gyro_rads[0] = IMU.getGyroX_rads();
     gyro_rads[1] = IMU.getGyroY_rads();
-    gyro_rads[2] = IMU.getGyroZ_rads();
+    gyro_rads[2] = -IMU.getGyroZ_rads();
 
     mag_uT[0] = IMU.getMagX_uT();
     mag_uT[1] = IMU.getMagY_uT();
@@ -37,4 +37,4 @@ bool imu_read(float *acceleration_mss, float *gyro_rads, float *mag_uT)
 
 void imu_loop() {
 
-}
+}