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fix: Yaw inversion in web UI (P0 #38) #40

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seb merged 1 commits from sl-firmware/yaw-fix into main 2026-02-28 21:57:54 -05:00
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sl-firmware commented 2026-02-28 21:51:40 -05:00
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Fixes P0 #38: yaw was spinning opposite to physical rotation in the Three.js model.

Root cause: targetYaw was negated (-yaw * π/180) but the sign assumption was wrong — the firmware yaw (gz integration) and Three.js rotation.y direction already match. Removing the negate fixes the display.

resetYaw() updated: yawRaw recovery formula flipped from - to + to match.

Pitch and roll were unaffected.

Fixes P0 #38: yaw was spinning opposite to physical rotation in the Three.js model. Root cause: `targetYaw` was negated (`-yaw * π/180`) but the sign assumption was wrong — the firmware yaw (gz integration) and Three.js `rotation.y` direction already match. Removing the negate fixes the display. `resetYaw()` updated: yawRaw recovery formula flipped from `-` to `+` to match. Pitch and roll were unaffected.
sl-firmware added 1 commit 2026-02-28 21:51:41 -05:00 
Remove erroneous negate on targetYaw — yaw was spinning opposite to
physical rotation. Update resetYaw() formula to match (+ instead of -).
Pitch and roll were unaffected.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
seb approved these changes 2026-02-28 21:57:53 -05:00
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Flash-tested all 5 PRs together. Builds, streams, no conflicts.

Flash-tested all 5 PRs together. Builds, streams, no conflicts.
seb merged commit c6b7d5cadd into main 2026-02-28 21:57:54 -05:00
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Reference: seb/saltylab-firmware#40
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