Showing the changes to interface/src/SerialInterface.cpp (1 of 5 files). Show all
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| @@ -215,7 +215,7 @@ void SerialInterface::readData(float deltaTime) { · 214 unmodified lines | |||
| 215 | // From MPU-9150 register map, with setting on | 215 | // From MPU-9150 register map, with setting on |
| 216 | // highest resolution = +/- 2G | 216 | // highest resolution = +/- 2G |
| 217 | 217 | ||
| 218 | _lastAcceleration = glm::vec3(accelXRate, accelYRate, accelZRate) * LSB_TO_METERS_PER_SECOND2; | 218 | _lastAcceleration = glm::vec3(-accelXRate, -accelYRate, -accelZRate) * LSB_TO_METERS_PER_SECOND2; |
| 219 | 219 | ||
| 220 | int rollRate, yawRate, pitchRate; | 220 | int rollRate, yawRate, pitchRate; |
| 221 | 221 | ||
| @@ -225,9 +225,9 @@ void SerialInterface::readData(float deltaTime) { · 3 unmodified lines | |||
| 225 | 225 | ||
| 226 | // Convert the integer rates to floats | 226 | // Convert the integer rates to floats |
| 227 | const float LSB_TO_DEGREES_PER_SECOND = 1.f / 16.4f; // From MPU-9150 register map, 2000 deg/sec. | 227 | const float LSB_TO_DEGREES_PER_SECOND = 1.f / 16.4f; // From MPU-9150 register map, 2000 deg/sec. |
| 228 | _lastRotationRates[0] = ((float) pitchRate) * LSB_TO_DEGREES_PER_SECOND; | 228 | _lastRotationRates[0] = ((float) -pitchRate) * LSB_TO_DEGREES_PER_SECOND; |
| 229 | _lastRotationRates[1] = ((float) yawRate) * LSB_TO_DEGREES_PER_SECOND; | 229 | _lastRotationRates[1] = ((float) -yawRate) * LSB_TO_DEGREES_PER_SECOND; |
| 230 | _lastRotationRates[2] = ((float) rollRate) * LSB_TO_DEGREES_PER_SECOND; | 230 | _lastRotationRates[2] = ((float) -rollRate) * LSB_TO_DEGREES_PER_SECOND; |
| 231 | 231 | ||
| 232 | // Update raw rotation estimates | 232 | // Update raw rotation estimates |
| 233 | glm::quat estimatedRotation = glm::quat(glm::radians(_estimatedRotation)) * | 233 | glm::quat estimatedRotation = glm::quat(glm::radians(_estimatedRotation)) * |