sl-firmware created pull request seb/saltylab-firmware#40

sl-firmware
Sat, 28 Feb 2026 21:51:41 -0500

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

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.