Accelerometer and gyroscope seem to be swapped

[z80]

Hello!

Awesome implementation! Thank you so much for making it available at github!
I've tested your code (commit 0b869f4). My impression is accelerometer and gyroscope readings are swapped. I.e. accelerometer shows angular velocity and gyroscope shows acceleration.

For example, this code
builder << "gyro x: " << (int)inState.gyroscope.x << std::endl;
builder << "gyro y: " << (int)inState.gyroscope.y << std::endl;
builder << "gyro z: " << (int)inState.gyroscope.z << std::endl;
builder << "acc x: " << (int)inState.accelerometer.x << std::endl;
builder << "acc y: " << (int)inState.accelerometer.y << std::endl;
builder << "acc z: " << (int)inState.accelerometer.z << std::endl;

provides this output (controller is 100% stationary)
gyro x: -243
gyro y: 8187
gyro z: 1453
acc x: -5
acc y: 11
acc z: 2

[tdbigdee]

Although It says "gyroscope", I don't believe it's actually gyroscope data. I think the acc data is accelerometer data where the "gravity effect" is filtered out. The "gyro" data seems to be the raw acceleration data from the accelerometer.

[Ohjurot]

That could be quit certain. I never was really convinced from the values I got and was only using the references that were abilible back in the days.