🐛 Use mpu.heading for heading calculations

2026-03-20 17:19:41 +01:00
parent 37474e840d
commit 0f2a0c65ba
1 changed files with 3 additions and 2 deletions
@@ -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