diff --git a/main/ugv_io_mpu.cc b/main/ugv_io_mpu.cc
index 0724c7e..8bb4499 100644
--- a/main/ugv_io_mpu.cc
+++ b/main/ugv_io_mpu.cc
@@ -25,8 +25,8 @@ static const Mat3f ACCEL_MAT    = {1., 0., 0., 0., -1., 0., 0., 0., -1.};
 //static const Vec3f MAG_OFFSET   = {-7.79683, 3.6735, 32.3868};
 static const Vec3f MAG_OFFSET   = {-118.902, 18.8173, -39.209};
 //static const Mat3f MAG_MAT      = {0., -0.0281408, 0., -0.0284409, 0., 0., 0., 0., 0.0261544};
-static const Mat3f MAG_MAT      = {0., -0.0335989, 0., 0.0330167, 0., 0., 0., 0., 0.0335989};
-static const Mat3f GYRO_MAT    = {1., 0., 0., 0., -1., 0., 0., 0., -1.};
+static const Mat3f MAG_MAT      = {0., -0.0335989, 0., -0.0330167, 0., 0., 0., 0., 0.0335989};
+static const Mat3f GYRO_MAT    = {1., 0., 0., 0., -1., 0., 0., 0., 1.};
 static const Vec3f GYRO_OFFSET  = {-4.33655, -2.76826, -0.908427};
 
 static const char *TAG = "ugv_io_mpu";