C++: Examples: AHRS: fix sign of accumulated offset

remove negative sign at accumulated offset because the offset is subtracted from sensor reading
IgorAnohin · Nov 19, 2017 · 84573fe · 84573fe
1 parent 586caaa
commit 84573fe
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/C++/Examples/AHRS/AHRS.cpp b/C++/Examples/AHRS/AHRS.cpp
@@ -265,9 +265,9 @@ void AHRS::setGyroOffset()
  gy *= 180 / PI;
  gz *= 180 / PI;
 
- offset[0] += (-gx*0.0175);
- offset[1] += (-gy*0.0175);
- offset[2] += (-gz*0.0175);
+ offset[0] += gx*0.0175;
+ offset[1] += gy*0.0175;
+ offset[2] += gz*0.0175;
 
  usleep(10000);
  }
@@ -412,7 +412,6 @@ std::string get_sensor_name(int argc, char *argv[])
 
  return "mpu";
  }
-
 }
 
 //============================== Main loop ====================================