diff options
Diffstat (limited to 'board/bugzzy/board.c')
| -rw-r--r-- | board/bugzzy/board.c | 10 |
1 files changed, 8 insertions, 2 deletions
diff --git a/board/bugzzy/board.c b/board/bugzzy/board.c index 72244322f3..ead3d09358 100644 --- a/board/bugzzy/board.c +++ b/board/bugzzy/board.c @@ -438,6 +438,12 @@ static const mat33_fp_t base_standard_ref = { { 0, 0, FLOAT_TO_FP(-1)} }; +static const mat33_fp_t base_standard_ref_lsm = { + { FLOAT_TO_FP(1), 0, 0}, + { 0, FLOAT_TO_FP(-1), 0}, + { 0, 0, FLOAT_TO_FP(-1)} +}; + struct motion_sensor_t ldm6dsm_base_accel = { .name = "Base Accel", .active_mask = SENSOR_ACTIVE_S0_S3, @@ -450,7 +456,7 @@ struct motion_sensor_t ldm6dsm_base_accel = { MOTIONSENSE_TYPE_ACCEL), .port = I2C_PORT_ACCEL, .i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS, - .rot_standard_ref = &base_standard_ref, + .rot_standard_ref = &base_standard_ref_lsm, .default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs */ .min_frequency = LSM6DSM_ODR_MIN_VAL, .max_frequency = LSM6DSM_ODR_MAX_VAL, @@ -480,7 +486,7 @@ struct motion_sensor_t ldm6dsm_base_gyro = { .port = I2C_PORT_ACCEL, .i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS, .default_range = 1000 | ROUND_UP_FLAG, /* dps */ - .rot_standard_ref = &base_standard_ref, + .rot_standard_ref = &base_standard_ref_lsm, .min_frequency = LSM6DSM_ODR_MIN_VAL, .max_frequency = LSM6DSM_ODR_MAX_VAL, |