diff --git a/main/ugv_io_mpu.cc b/main/ugv_io_mpu.cc
index 207a8a5..0724c7e 100644
--- a/main/ugv_io_mpu.cc
+++ b/main/ugv_io_mpu.cc
@@ -21,11 +21,11 @@ static constexpr mpud::gyro_fs_t  MPU_GYRO_FS     = mpud::GYRO_FS_500DPS;
 static constexpr float            MPU_MAG_TO_FLUX = (4912.f) / (32760.f);
 
 static const Vec3f ACCEL_OFFSET = {0., 0., 0.};
-static const Mat3f ACCEL_MAT    = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
+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      = {0.0330167, 0., 0., 0., 0.0335989, 0., 0., 0., 0.0335989};
+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};