Fix roll correction, closes #1

2026-03-01 23:13:39 +01:00
parent b3cc319d5e
commit ee1d13f177
3 changed files with 53 additions and 10 deletions
--- a/source/imu.cpp
+++ b/source/imu.cpp
@@ -35,6 +35,8 @@ void calibrateGyroBias() {
  biasGZ = (float)(sz/BIAS_SAMPLES);
  calTempC = readIMUTemp();
  angleX = angleY = accumX = accumY = 0.0f;
+  // Seed gravity estimate from current accel so projection is correct immediately
+  gravX = imu.readFloatAccelX(); gravY = imu.readFloatAccelY(); gravZ = imu.readFloatAccelZ();

  #ifdef FEATURE_TELEMETRY
    statRecalCount++;