Add files via upload

wollewald · Jul 7, 2022 · b3e5b84 · b3e5b84
1 parent 2b5c166
commit b3e5b84
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/MPU6500_WE.cpp b/src/MPU6500_WE.cpp
@@ -546,10 +546,11 @@ String MPU6500_WE::getOrientationAsString(){
 
 float MPU6500_WE::getPitch(){
     xyzFloat angleVal = getAngles();
-    float pitch = (atan2(angleVal.x, sqrt(abs((angleVal.x*angleVal.y + angleVal.z*angleVal.z))))*180.0)/M_PI;
+    float pitch = (atan2(-angleVal.x, sqrt(abs((angleVal.y*angleVal.y + angleVal.z*angleVal.z))))*180.0)/M_PI;
     return pitch;
 }
 
+
 float MPU6500_WE::getRoll(){
     xyzFloat angleVal = getAngles();
     float roll = (atan2(angleVal.y, angleVal.z)*180.0)/M_PI;