diff options
Diffstat (limited to 'board/bobba/board.c')
| -rw-r--r-- | board/bobba/board.c | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/board/bobba/board.c b/board/bobba/board.c index 8bd95b5f01..1b6ba2feec 100644 --- a/board/bobba/board.c +++ b/board/bobba/board.c @@ -133,13 +133,15 @@ const mat33_fp_t base_standard_ref = { /* * Sparky360 SKU ID 26 has AR Cam, and move base accel/gryo to AR Cam board. - * AR Cam board has about -16° bias with motherboard through Y axis. - * Rotation matrix with -16° through Y axis: - * | cos(-16°) 0 sin(-16°)| - * R = | 0 1 0 | - * |-sin(-16°) 0 cos(-16°)| + * AR Cam board has about 16° bias with motherboard through Y axis. + * Rotation matrix with 16° through Y axis: + * | cos(16°) 0 sin(16°)| | 0.96126 0 0.27564| + * R = | 0 1 0 | = | 0 1 0 | + * |-sin(16°) 0 cos(16°)| |-0.27564 0 0.96126| * - * base_ar_cam_ref = R * base_standard_ref + * |0 -0.96126 0.27564| + * base_ar_cam_ref = R * base_standard_ref = |1 0 0 | + * |0 0.27564 0.96126| */ const mat33_fp_t base_ar_cam_ref = { { 0, FLOAT_TO_FP(-0.96126), FLOAT_TO_FP(0.27564)}, |