From 38188d322ea6949e26f1309f5be5e41fa8261cf8 Mon Sep 17 00:00:00 2001 From: Gwendal Grignou Date: Thu, 16 Feb 2017 11:48:59 -0800 Subject: [PATCH] poppy: fix accel/gyro rotation matrix The matrix was not correct and sensor would report -1G along the Z axis while on a flat surface. BUG=chrome-os-partner:63021 BRANCH=none TEST=Check in ARC++ AIDA64 the gravity data is reported correctly along the Z axis. Change-Id: I0ddbf40876746432c640f547a5efede3a07c6eec Signed-off-by: Gwendal Grignou Reviewed-on: https://chromium-review.googlesource.com/444066 Tested-by: Rajat Jain Reviewed-by: Rajat Jain --- board/poppy/board.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/board/poppy/board.c b/board/poppy/board.c index bb29baaea3..b31309f254 100644 --- a/board/poppy/board.c +++ b/board/poppy/board.c @@ -575,7 +575,7 @@ const matrix_3x3_t mag_standard_ref = { const matrix_3x3_t lid_standard_ref = { { 0, FLOAT_TO_FP(1), 0}, {FLOAT_TO_FP(-1), 0, 0}, - { 0, 0, FLOAT_TO_FP(-1)} + { 0, 0, FLOAT_TO_FP(1)} }; struct motion_sensor_t motion_sensors[] = {