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switch signs around for correction values in poll functions

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templeofshadow
2026-06-29 22:50:29 -05:00
parent e11c6483f9
commit 23644f7072
1 changed files with 8 additions and 8 deletions
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16
main.lua
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@@ -567,12 +567,12 @@ function PollVelocity()
local vsVelocity = velsensor.getVelocity() local vsVelocity = velsensor.getVelocity()
-- correct for heading correction value -- correct for heading correction value
if Config.SensorCorrection.Heading == 90 or Config.SensorCorrection.Heading == -270 then if Config.SensorCorrection.Heading == -90 or Config.SensorCorrection.Heading == 270 then
if vsAxis == "x" then vsAxis = "z" end if vsAxis == "x" then vsAxis = "z" end
if vsAxis == "z" then vsAxis = "x" end if vsAxis == "z" then vsAxis = "x" end
elseif Config.SensorCorrection.Heading == 180 or Config.SensorCorrection.Heading == -180 then elseif Config.SensorCorrection.Heading == 180 or Config.SensorCorrection.Heading == -180 then
vsVelocity = -vsVelocity vsVelocity = -vsVelocity
elseif Config.SensorCorrection.Heading == -90 or Config.SensorCorrection.Heading == 270 then elseif Config.SensorCorrection.Heading == 90 or Config.SensorCorrection.Heading == -270 then
if vsAxis == "x" then vsAxis = "z" end if vsAxis == "x" then vsAxis = "z" end
if vsAxis == "z" then vsAxis = "x" end if vsAxis == "z" then vsAxis = "x" end
vsVelocity = -vsVelocity vsVelocity = -vsVelocity
@@ -685,14 +685,14 @@ function PollGimbal()
end end
-- correct for heading correction value -- correct for heading correction value
if Config.SensorCorrection.Heading == 90 or Config.SensorCorrection.Heading == -270 then if Config.SensorCorrection.Heading == -90 or Config.SensorCorrection.Heading == 270 then
local temp = Angles.xAngle local temp = Angles.xAngle
Angles.xAngle = Angles.zAngle Angles.xAngle = Angles.zAngle
Angles.zAngle = temp Angles.zAngle = temp
elseif Config.SensorCorrection.Heading == 180 or Config.SensorCorrection.Heading == -180 then elseif Config.SensorCorrection.Heading == 180 or Config.SensorCorrection.Heading == -180 then
Angles.xAngle = -Angles.xAngle Angles.xAngle = -Angles.xAngle
Angles.zAngle = -Angles.zAngle Angles.zAngle = -Angles.zAngle
elseif Config.SensorCorrection.Heading == -90 or Config.SensorCorrection.Heading == 270 then elseif Config.SensorCorrection.Heading == 90 or Config.SensorCorrection.Heading == -270 then
local temp = Angles.xAngle local temp = Angles.xAngle
Angles.xAngle = -Angles.zAngle Angles.xAngle = -Angles.zAngle
Angles.zAngle = -temp Angles.zAngle = -temp
@@ -714,14 +714,14 @@ function PollGimbal()
end end
-- correct for heading correction value -- correct for heading correction value
if Config.SensorCorrection.Heading == 90 or Config.SensorCorrection.Heading == -270 then if Config.SensorCorrection.Heading == -90 or Config.SensorCorrection.Heading == 270 then
local temp = AngularRates.wx local temp = AngularRates.wx
AngularRates.wx = AngularRates.wz AngularRates.wx = AngularRates.wz
AngularRates.wz = temp AngularRates.wz = temp
elseif Config.SensorCorrection.Heading == 180 or Config.SensorCorrection.Heading == -180 then elseif Config.SensorCorrection.Heading == 180 or Config.SensorCorrection.Heading == -180 then
AngularRates.wx = -AngularRates.wx AngularRates.wx = -AngularRates.wx
AngularRates.wz = -AngularRates.wz AngularRates.wz = -AngularRates.wz
elseif Config.SensorCorrection.Heading == -90 or Config.SensorCorrection.Heading == 270 then elseif Config.SensorCorrection.Heading == 90 or Config.SensorCorrection.Heading == -270 then
local temp = AngularRates.wx local temp = AngularRates.wx
AngularRates.wx = -AngularRates.wz AngularRates.wx = -AngularRates.wz
AngularRates.wz = -temp AngularRates.wz = -temp
@@ -743,14 +743,14 @@ function PollGimbal()
end end
-- correct for heading correction value -- correct for heading correction value
if Config.SensorCorrection.Heading == 90 or Config.SensorCorrection.Heading == -270 then if Config.SensorCorrection.Heading == -90 or Config.SensorCorrection.Heading == 270 then
local temp = LinearAcceleration.ax local temp = LinearAcceleration.ax
LinearAcceleration.ax = LinearAcceleration.az LinearAcceleration.ax = LinearAcceleration.az
LinearAcceleration.az = temp LinearAcceleration.az = temp
elseif Config.SensorCorrection.Heading == 180 or Config.SensorCorrection.Heading == -180 then elseif Config.SensorCorrection.Heading == 180 or Config.SensorCorrection.Heading == -180 then
LinearAcceleration.ax = -LinearAcceleration.ax LinearAcceleration.ax = -LinearAcceleration.ax
LinearAcceleration.az = -LinearAcceleration.az LinearAcceleration.az = -LinearAcceleration.az
elseif Config.SensorCorrection.Heading == -90 or Config.SensorCorrection.Heading == 270 then elseif Config.SensorCorrection.Heading == 90 or Config.SensorCorrection.Heading == -270 then
local temp = LinearAcceleration.ax local temp = LinearAcceleration.ax
LinearAcceleration.ax = -LinearAcceleration.az LinearAcceleration.ax = -LinearAcceleration.az
LinearAcceleration.az = -temp LinearAcceleration.az = -temp