From 042548412db25525b29bfc54e8375bd08c2cf1ad Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Thu, 27 Nov 2025 18:44:36 +0100
Subject: [PATCH] =?UTF-8?q?=F0=9F=90=9B=20Imu=20temp=20in=20message?=
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---
 app/src/lib/stores/imu.ts   | 2 +-
 app/src/lib/types/models.ts | 2 +-
 esp32/src/main.cpp          | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/app/src/lib/stores/imu.ts b/app/src/lib/stores/imu.ts
index 3bf1491..7ce44ae 100644
--- a/app/src/lib/stores/imu.ts
+++ b/app/src/lib/stores/imu.ts
@@ -16,7 +16,7 @@ export const imu = (() => {
 
     const addData = (content: IMUMsg) => {
         update(data => {
-            if (content.imu && content.imu[3]) {
+            if (content.imu && content.imu[4]) {
                 data.x = [...data.x, content.imu[0]].slice(-maxIMUData)
                 data.y = [...data.y, content.imu[1]].slice(-maxIMUData)
                 data.z = [...data.z, content.imu[2]].slice(-maxIMUData)
diff --git a/app/src/lib/types/models.ts b/app/src/lib/types/models.ts
index 85ab164..754b9fc 100644
--- a/app/src/lib/types/models.ts
+++ b/app/src/lib/types/models.ts
@@ -155,7 +155,7 @@ export type IMU = {
 }
 
 export type IMUMsg = {
-    imu: [number, number, number, boolean]
+    imu: [number, number, number, number, boolean]
     mag: [number, number, number, number, boolean]
     bmp: [number, number, number, boolean]
 }
diff --git a/esp32/src/main.cpp b/esp32/src/main.cpp
index 044446e..f152a0e 100644
--- a/esp32/src/main.cpp
+++ b/esp32/src/main.cpp
@@ -185,7 +185,7 @@ void IRAM_ATTR SpotControlLoopEntry(void *) {
 #if FT_ENABLED(USE_WS2812)
         ledService.loop();
 #endif
-        EXECUTE_EVERY_N_MS(250, [&]() {
+        EXECUTE_EVERY_N_MS(250, {
             JsonDocument doc;
             JsonVariant results = doc.to<JsonVariant>();
             peripherals.getIMUResult(results);