From e2cfcb78d66fdd7b544680776780dbde1d56badf Mon Sep 17 00:00:00 2001 From: luoweiyuan Date: Thu, 27 Aug 2026 13:43:24 +0800 Subject: [PATCH] Fix M5StickS3 IMU axis orientation --- src/utility/IMU_Class.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/utility/IMU_Class.cpp b/src/utility/IMU_Class.cpp index eb465c6..3645fdf 100644 --- a/src/utility/IMU_Class.cpp +++ b/src/utility/IMU_Class.cpp @@ -113,6 +113,11 @@ namespace m5 { // ChainCaptain BMI270 : X=-Y, Y=-X, Z=-Z _internal_axisorder_fixed[sensor_index_accel] = (internal_axisorder_t)(axis_order_yxz | axis_invert_x | axis_invert_y | axis_invert_z); _internal_axisorder_fixed[sensor_index_gyro ] = (internal_axisorder_t)(axis_order_yxz | axis_invert_x | axis_invert_y | axis_invert_z); + } else + if (board == m5::board_t::board_M5StickS3) + { // StickS3 BMI270 : X=+Y, Y=-X, Z=+Z + _internal_axisorder_fixed[sensor_index_accel] = (internal_axisorder_t)(axis_order_yxz | axis_invert_y); + _internal_axisorder_fixed[sensor_index_gyro ] = (internal_axisorder_t)(axis_order_yxz | axis_invert_y); } #elif defined(CONFIG_IDF_TARGET_ESP32C61) if (board == m5::board_t::board_M5CoreMatrix)