pbio/imu: Make heading positive clockwise.

laurensvalk · laurensvalk · commit 99351ece4577 · 2023-04-20T13:51:34.000+02:00
Since both conventions are used in practice, we might as
well make it match the default drive base behavior.
diff --git a/lib/pbio/src/imu.c b/lib/pbio/src/imu.c
@@ -220,7 +220,7 @@ float pbio_imu_get_heading(void) {
 
     pbio_geometry_vector_map(&pbio_orientation_base_orientation, &single_axis_rotation, &heading_mapped);
 
-    return heading_mapped.z - heading_offset;
+    return -heading_mapped.z - heading_offset;
 }
 
 /**

Original file line number	Diff line number	Diff line change
`@@ -220,7 +220,7 @@ float pbio_imu_get_heading(void) {`
`220`	`220`
`221`	`221`	`pbio_geometry_vector_map(&pbio_orientation_base_orientation, &single_axis_rotation, &heading_mapped);`
`222`	`222`
`223`		`- return heading_mapped.z - heading_offset;`
	`223`	`+ return -heading_mapped.z - heading_offset;`
`224`	`224`	`}`
`225`	`225`
`226`	`226`	`/**`