seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 3 Actions Packages Projects Releases Wiki Activity

P0: Yaw rotation is inverted in web UI #38

New Issue
Closed
opened 2026-02-28 21:47:15 -05:00 by seb · 0 comments
seb commented 2026-02-28 21:47:15 -05:00
Owner
Copy Link

Bug

Pitch and roll display correctly after PR #20 axis fix. Yaw is inverted — rotating CW shows CCW in the UI (or vice versa).

Fix

Negate the yaw sign. Either:

  • Firmware: flip gz sign in mpu6000.c yaw integration
  • Or UI: remove the negation on targetYaw in ui/index.html (currently targetYaw = -yaw * Math.PI / 180)

Only one of these — not both.

Priority

P0 — breaks visual feedback during testing.

## Bug Pitch and roll display correctly after PR #20 axis fix. **Yaw is inverted** — rotating CW shows CCW in the UI (or vice versa). ## Fix Negate the yaw sign. Either: - Firmware: flip `gz` sign in `mpu6000.c` yaw integration - Or UI: remove the negation on `targetYaw` in `ui/index.html` (currently `targetYaw = -yaw * Math.PI / 180`) Only one of these — not both. ## Priority **P0** — breaks visual feedback during testing.
Sign in to join this conversation.
No Branch/Tag Specified
Branches Tags
Labels
No items
No Label
Milestone
No items
No Milestone
Projects
Clear projects
No project
Assignees
Clear assignees
shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
No Assignees
1 Participants
Notifications
Due Date
No due date set.
Dependencies

No dependencies set.

Reference: seb/saltylab-firmware#38
No description provided.
Delete Branch "%!s()"

Deleting a branch is permanent. Although the deleted branch may continue to exist for a short time before it actually gets removed, it CANNOT be undone in most cases. Continue?