Diff: imu.cpp

Revision:

68:b9f6938fab9d

Parent:

66:e5afad70fdd8

Child:

70:99f974d8960e

--- a/imu.cpp	Tue Jun 22 02:45:43 2021 +0000
+++ b/imu.cpp	Mon Jun 28 01:40:26 2021 +0000
@@ -3,13 +3,13 @@
 void getIMUval()
 {
     // gx gy gz ax ay az
-    accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz);
-    ax =  ax - agoffset[0];
-    ay =  ay - agoffset[1];
-    az =  -az - agoffset[2];
+    accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+    ax = ax - agoffset[0];
+    ay = ay - agoffset[1];
+    az = az - agoffset[2];
     gx = gx - agoffset[3];
     gy = gy - agoffset[4];
-    gz = -gz - agoffset[5];
+    gz = gz - agoffset[5];
     // 加速度値を分解能で割って加速度(G)に変換する
     acc.x = float(ax) / ACCEL_SSF;  //FS_SEL_0 16,384 LSB / g
     acc.y = float(ay) / ACCEL_SSF;
@@ -28,4 +28,4 @@
     mag.x = -outputMag[0];
     mag.y = -outputMag[1];
     mag.z = -outputMag[2];
-}
\ No newline at end of file
+}   
\ No newline at end of file