diff options
| -rw-r--r-- | board/drallion_ish/board.c | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/board/drallion_ish/board.c b/board/drallion_ish/board.c index a36b4e5644..c9a683e36d 100644 --- a/board/drallion_ish/board.c +++ b/board/drallion_ish/board.c @@ -42,6 +42,13 @@ static struct lsm6dsm_data lsm6dsm_a_data = LSM6DSM_DATA; static struct stprivate_data g_lis2dh_data; static struct lis2mdl_private_data lis2mdl_a_data; +/* Matrix to rotate base sensor into standard reference frame */ +const mat33_fp_t base_rot_ref = { + { 0, FLOAT_TO_FP(1), 0}, + { FLOAT_TO_FP(-1), 0, 0}, + { 0, 0, FLOAT_TO_FP(1)} +}; + /* Drivers */ struct motion_sensor_t motion_sensors[] = { [LID_ACCEL] = { @@ -105,7 +112,7 @@ struct motion_sensor_t motion_sensors[] = { .drv_data = &g_lis2dh_data, .port = I2C_PORT_SENSOR, .i2c_spi_addr_flags = LNG2DM_ADDR0_FLAGS, - .rot_standard_ref = NULL, /* Identity matrix */ + .rot_standard_ref = &base_rot_ref, /* We only use 2g because its resolution is only 8-bits */ .default_range = 2, /* g */ .min_frequency = LIS2DH_ODR_MIN_VAL, |