From 0f2a0c65ba78df74ecacdc938628dfc088cbeccf Mon Sep 17 00:00:00 2001
From: Rune Harlyk <36825685+runeharlyk@users.noreply.github.com>
Date: Fri, 20 Mar 2026 17:19:41 +0100
Subject: [PATCH] =?UTF-8?q?=F0=9F=90=9B=20Use=20mpu.heading=20for=20headin?=
 =?UTF-8?q?g=20calculations?=
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---
 app/src/lib/components/Visualization.svelte | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/app/src/lib/components/Visualization.svelte b/app/src/lib/components/Visualization.svelte
index 76de986..04a111c 100644
--- a/app/src/lib/components/Visualization.svelte
+++ b/app/src/lib/components/Visualization.svelte
@@ -262,8 +262,9 @@
         const rotatedXm = settings.xm * cosTotal - settings.zm * sinTotal
         const rotatedZm = settings.xm * sinTotal + settings.zm * cosTotal
 
-        const cosHead = Math.cos(headingYaw)
-        const sinHead = Math.sin(headingYaw)
+        const mpuHeadingRad = degToRad($mpu.heading)
+        const cosHead = Math.cos(mpuHeadingRad)
+        const sinHead = Math.sin(mpuHeadingRad)
         const rotatedCumX = body_state.cumulative_x * cosHead - body_state.cumulative_z * sinHead
         const rotatedCumZ = body_state.cumulative_x * sinHead + body_state.cumulative_z * cosHead