From 1a7f28413cbe1033ca8452e26d4604bf5a6fa279 Mon Sep 17 00:00:00 2001
From: Magnus Persson <magnus@noreply.github.com>
Date: Tue, 8 Feb 2022 19:05:13 +0100
Subject: [PATCH] Revert gyro change

---
 src/config.cpp |  6 +++---
 src/gyro.cpp   | 12 ++++++------
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/config.cpp b/src/config.cpp
index 67fc7aa..c87c3bc 100644
--- a/src/config.cpp
+++ b/src/config.cpp
@@ -65,7 +65,7 @@ Config::Config() {
 //
 void Config::createJson(DynamicJsonDocument& doc) {
   doc[PARAM_MDNS] = getMDNS();
-  doc[PARAM_CONFIG_VER] = getConfigVersion();
+  //doc[PARAM_CONFIG_VER] = getConfigVersion();
   doc[PARAM_ID] = getID();
   doc[PARAM_OTA] = getOtaURL();
   doc[PARAM_SSID] = getWifiSSID();
@@ -293,12 +293,12 @@ bool Config::loadFile() {
   if (!doc[PARAM_FORMULA_DATA]["g5"].isNull())
     _formulaData.g[4] = doc[PARAM_FORMULA_DATA]["g5"].as<double>();
 
-  if( doc[PARAM_CONFIG_VER].isNull() ) {
+  /*if( doc[PARAM_CONFIG_VER].isNull() ) {
     // If this parameter is missing we need to reset the gyrocalibaration due to bug #29
     _gyroCalibration.ax = _gyroCalibration.ay = _gyroCalibration.az = 0; 
     _gyroCalibration.gx = _gyroCalibration.gy = _gyroCalibration.gz = 0; 
     Log.warning(F("CFG : Old configuration format, clearing gyro calibration." CR));
-  }
+  }*/
 
   _saveNeeded = false;  // Reset save flag
   Log.notice(F("CFG : Configuration file " CFG_FILENAME " loaded." CR));
diff --git a/src/gyro.cpp b/src/gyro.cpp
index e38fad5..7aa374e 100644
--- a/src/gyro.cpp
+++ b/src/gyro.cpp
@@ -196,15 +196,15 @@ float GyroSensor::calculateAngle(RawGyroData &raw) {
         az = (static_cast<float>(raw.az)) / 16384;
 
   // Source: https://www.nxp.com/docs/en/application-note/AN3461.pdf
-  //float vY = (acos(abs(ay) / sqrt(ax * ax + ay * ay + az * az)) * 180.0 / PI);
-  float vZ = (acos(abs(az) / sqrt(ax * ax + ay * ay + az * az)) * 180.0 / PI);
+  float vY = (acos(abs(ay) / sqrt(ax * ax + ay * ay + az * az)) * 180.0 / PI);
+  //float vZ = (acos(abs(az) / sqrt(ax * ax + ay * ay + az * az)) * 180.0 / PI);
   //float vX = (acos(abs(ax) / sqrt(ax * ax + ay * ay + az * az)) * 180.0 / PI);
 #if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING)
-  //Log.verbose(F("GYRO: angleX= %F." CR), vX);
-  //Log.verbose(F("GYRO: angleY= %F." CR), vY);
-  Log.verbose(F("GYRO: angleZ= %F." CR), 90-vZ);
+  //Log.notice(F("GYRO: angleX= %F." CR), vX);
+  Log.notice(F("GYRO: angleY= %F." CR), vY);
+  //Log.notice(F("GYRO: angleZ= %F." CR), vZ);
 #endif
-  return 90-vZ;
+  return vY;
 }
 
 //