diff options
| -rw-r--r-- | board/cyan/board.c | 4 | ||||
| -rw-r--r-- | common/motion_lid.c | 8 |
2 files changed, 8 insertions, 4 deletions
diff --git a/board/cyan/board.c b/board/cyan/board.c index 568c32e765..d77dbeb45c 100644 --- a/board/cyan/board.c +++ b/board/cyan/board.c @@ -111,8 +111,8 @@ const matrix_3x3_t base_standard_ref = { const matrix_3x3_t lid_standard_ref = { {FLOAT_TO_FP(-1), 0, 0}, - { 0, FLOAT_TO_FP(-1), 0}, - { 0, 0, FLOAT_TO_FP(1)} + { 0, FLOAT_TO_FP(1), 0}, + { 0, 0, FLOAT_TO_FP(-1)} }; struct motion_sensor_t motion_sensors[] = { diff --git a/common/motion_lid.c b/common/motion_lid.c index eca904f900..32fea49e18 100644 --- a/common/motion_lid.c +++ b/common/motion_lid.c @@ -147,10 +147,14 @@ int motion_lid_get_angle(void) */ void motion_lid_calc(void) { + /* rotate lid vector by 180 degre to be in the right coordinate frame */ + vector_3_t lid = { accel_lid->xyz[X], + accel_lid->xyz[Y] * -1, + accel_lid->xyz[Z] * -1}; + /* Calculate angle of lid accel. */ lid_angle_is_reliable = calculate_lid_angle( - accel_base->xyz, - accel_lid->xyz, + accel_base->xyz, lid, &lid_angle_deg); #ifdef CONFIG_LID_ANGLE_UPDATE |