diff options
Diffstat (limited to 'board/ampton')
| -rw-r--r-- | board/ampton/board.c | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/board/ampton/board.c b/board/ampton/board.c index d4529af87c..d2746ca980 100644 --- a/board/ampton/board.c +++ b/board/ampton/board.c @@ -150,6 +150,12 @@ const mat33_fp_t base_standard_ref = { { 0, 0, FLOAT_TO_FP(1)} }; +const mat33_fp_t gyro_standard_ref = { + { 0, FLOAT_TO_FP(-1), 0}, + { FLOAT_TO_FP(1), 0, 0}, + { 0, 0, FLOAT_TO_FP(1)} +}; + /* sensor private data */ static struct kionix_accel_data g_kx022_data; static struct bmi160_drv_data_t g_bmi160_data; @@ -220,7 +226,7 @@ struct motion_sensor_t motion_sensors[] = { .port = I2C_PORT_SENSOR, .addr = BMI160_ADDR0, .default_range = 1000, /* dps */ - .rot_standard_ref = NULL, /* Identity matrix. */ + .rot_standard_ref = &gyro_standard_ref, .min_frequency = BMI160_GYRO_MIN_FREQ, .max_frequency = BMI160_GYRO_MAX_FREQ, }, |