src/mpu6000.c

@@ -60,21 +60,29 @@ void mpu6000_read(IMUData *data) {
     float az = raw.az * ACCEL_SCALE;   /* g  */
 
     /*
-     * Gyro axes with CW270 alignment:
+     * CW270 alignment transform (Betaflight convention, R_CW270):
-     *   pitch rate = gx, roll rate = gy, yaw rate = gz
+     *
-     * Signs may need inverting depending on mounting orientation.
+     *   R = [[0, 1, 0], [-1, 0, 0], [0, 0, 1]]
+     *   board_forward = sensor_Y    → pitch accel uses ay
+     *   board_right   = -sensor_X   → roll accel uses -ax
+     *   board_gx (roll rate)  =  sensor_gy   (board_gx = R[0,·]·omega_sensor)
+     *   board_gy (pitch rate) = -sensor_gx   (board_gy = R[1,·]·omega_sensor)
+     *   board_gz (yaw rate)   =  sensor_gz   (unchanged)
+     *
+     * Convention: pitch+ = nose up, roll+ = right bank, yaw+ = CW from above.
      */
-    float gyro_pitch_rate = raw.gx * GYRO_SCALE;  /* °/s */
+    float gyro_pitch_rate = -raw.gx * GYRO_SCALE;  /* °/s  board_gy = -sensor_gx */
-    float gyro_roll_rate  = raw.gy * GYRO_SCALE;  /* °/s */
+    float gyro_roll_rate  =  raw.gy * GYRO_SCALE;  /* °/s  board_gx =  sensor_gy */
-    float gyro_yaw_rate   = raw.gz * GYRO_SCALE;  /* °/s */
+    float gyro_yaw_rate   =  raw.gz * GYRO_SCALE;  /* °/s  unchanged */
 
     /*
-     * Accel-derived pitch and roll (degrees).
+     * Accel-derived angles after CW270 transform.
-     * CW270 alignment: pitch = atan2(ax, az), roll = atan2(ay, az).
+     * board_ax (forward) = sensor_ay → pitch = atan2(ay, az)
+     * board_ay (right)   = -sensor_ax → roll  = atan2(-ax, az)
      * Valid while total accel ≈ 1g (low linear acceleration).
      */
-    float accel_pitch = atan2f(ax, az) * (180.0f / 3.14159265358979f);
+    float accel_pitch = atan2f( ay, az) * (180.0f / 3.14159265358979f);
-    float accel_roll  = atan2f(ay, az) * (180.0f / 3.14159265358979f);
+    float accel_roll  = atan2f(-ax, az) * (180.0f / 3.14159265358979f);
 
     /*
      * Complementary filter for pitch and roll:

ui/index.html

@@ -186,13 +186,15 @@ window.updateIMU = function(data) {
   const motorCmd = data.m || 0;
   const state    = data.s || 0;
 
-  // Three.js rotation targets (radians):
+  // Three.js rotation targets (radians) — CW270 IMU mount on MAMBA F722S:
-  //   pitch → rotation.x  (tipping forward/back around left-right axis)
+  //   pitch → rotation.x   positive = nose up   (Three.js +x rotates -Z end upward ✓)
-  //   roll  → rotation.z  (banking left/right around forward axis)
+  //   roll  → -rotation.z  positive = right bank (Three.js +z is CCW from camera = left bank,
-  //   yaw   → rotation.y  (spinning on vertical axis)
+  //                         so negate to match right-bank-positive convention)
+  //   yaw   → -rotation.y  positive = CW from above (Three.js +y is CCW, sensor Z points down
+  //                         so gz+ = CW physical; negate so model spins correctly)
   targetPitch = pitch * Math.PI / 180;
-  targetRoll  = roll  * Math.PI / 180;
+  targetRoll  = -roll * Math.PI / 180;   // negate: Three.js +z = left bank, we want right bank+
-  targetYaw   = yaw   * Math.PI / 180;
+  targetYaw   = -yaw  * Math.PI / 180;   // negate: Three.js +y = CCW, sensor gz+ = CW
 
   document.getElementById('v-pitch').textContent = pitch.toFixed(1);
   document.getElementById('v-roll').textContent  = roll.toFixed(1);
@@ -245,8 +247,9 @@ function animate() {
 animate();
 
 window.resetYaw = function() {
-  // Capture current firmware yaw as new zero reference
+  // Capture current raw firmware yaw (before negate) as new zero reference.
-  const currentFirmwareYaw = targetYaw * 180 / Math.PI + yawOffset;
+  // targetYaw = -(yawRaw - yawOffset) * pi/180, so yawRaw = yawOffset - targetYaw*180/pi
+  const currentFirmwareYaw = yawOffset - targetYaw * 180 / Math.PI;
   yawOffset = currentFirmwareYaw;
   targetYaw = 0;
 };