Fixed Gyro roll direction

The IMU is mounted upside down, so a carefully placed negative sign should make it do.
psas · Jul 19, 2015 · 7001fdb · 7001fdb
1 parent d3b9620
commit 7001fdb
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/src/state.c b/src/state.c
@@ -44,6 +44,7 @@ void state_receive_imu(const char *ID, uint8_t *timestamp, uint16_t len, void *b
 	 * as accurate at any phase of the launch. */
 	current_state.acc_up = accel;
 	current_state.roll_rate = roll_rate;
+	current_state.roll_rate = -roll_rate; //Sensor coordinate frame is rotated 180
 
 	if (has_launched) {
 		const double dt = (now - last_time) / 1.0e9;