From 474f56940b55003b6f09f85c9e993e2bc00c1af0 Mon Sep 17 00:00:00 2001 From: Alex Mikhalev Date: Wed, 15 May 2019 17:15:58 -0700 Subject: [PATCH] fix issues with ReadLn --- main/ugv_io_mpu.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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};