From 6c31cd7d3b8f3ade264fc534139472327e377126 Mon Sep 17 00:00:00 2001
From: aburt2 <32888184+aburt2@users.noreply.github.com>
Date: Wed, 29 Nov 2023 14:33:25 -0500
Subject: [PATCH] Fixed calibration calculation

---
 puara_gestures.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/puara_gestures.cpp b/puara_gestures.cpp
index a9245db..84b35d3 100644
--- a/puara_gestures.cpp
+++ b/puara_gestures.cpp
@@ -230,16 +230,16 @@ void PuaraGestures::calibrateMagnetometer(float magX, float magY, float magZ) {
 
 void PuaraGestures::calibrateAccelerometer(float accelX, float accelY, float accelZ) {
   // Calibrate accelerometer
-  accelCal[0] -= accel_zerog[0];
-  accelCal[1] -= accel_zerog[1];
-  accelCal[2] -= accel_zerog[2];
+  accelCal[0] = accelX - accel_zerog[0];
+  accelCal[1] = accelY - accel_zerog[1];
+  accelCal[2] = accelZ - accel_zerog[2];
 }
 
 void PuaraGestures::calibrateGyroscope(float gyroX, float gyroY, float gyroZ) {
   // Calibrate magnetometer
-  gyroCal[0]-= gyro_zerorate[0];
-  gyroCal[1]-= gyro_zerorate[1];
-  gyroCal[2]-= gyro_zerorate[2];
+  gyroCal[0] = gyroX - gyro_zerorate[0];
+  gyroCal[1] = gyroY - gyro_zerorate[1];
+  gyroCal[2] = gyroZ - gyro_zerorate[2];
 }