From 687a31d6eadea006ab7e11dd2a434dccbc3bdde0 Mon Sep 17 00:00:00 2001
From: JongChern <jongchern@gmail.com>
Date: Wed, 29 Jul 2026 10:20:55 +0800
Subject: [PATCH] update alignment matrix

---
 src/devices/verisense/calibrationDefaults.ts | 6 +++---
 tests/verisense/calibrationDefaults.test.ts  | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/devices/verisense/calibrationDefaults.ts b/src/devices/verisense/calibrationDefaults.ts
index a9be742..742251b 100644
--- a/src/devices/verisense/calibrationDefaults.ts
+++ b/src/devices/verisense/calibrationDefaults.ts
@@ -119,14 +119,14 @@ const CALIBRATION_SENSORS_GEN2: VerisenseCalibrationSensor[] = [
     id: CalibSensorId.LSM6DSV_ACCEL,
     label: 'Accelerometer (LSM6DSV)',
     unit: 'LSB/(m/s²)',
-    align: [0, -1, 0, 0, 0, 1, -1, 0, 0],
+    align: [0, 1, 0, 0, 0, 1, 1, 0, 0],
     ranges: ACCEL_RANGES,
   },
   {
     id: CalibSensorId.LSM6DSV_GYRO,
     label: 'Gyroscope (LSM6DSV)',
     unit: 'LSB/dps',
-    align: [0, -1, 0, 0, 0, 1, -1, 0, 0],
+    align: [0, 1, 0, 0, 0, 1, 1, 0, 0],
     ranges: GYRO_RANGES,
   },
   {
@@ -140,7 +140,7 @@ const CALIBRATION_SENSORS_GEN2: VerisenseCalibrationSensor[] = [
     id: CalibSensorId.LIS2MDL_MAG,
     label: 'Magnetometer (LIS2MDL)',
     unit: 'LSB/Gauss',
-    align: [0, 1, 0, 0, 0, 1, -1, 0, 0],
+    align: [1, 0, 0, 0, 0, 1, 0, 1, 0],
     ranges: [{ code: 0, label: '±49.152Ga', sens: 667 }],
   },
 ];
diff --git a/tests/verisense/calibrationDefaults.test.ts b/tests/verisense/calibrationDefaults.test.ts
index bf1b701..5ff8add 100644
--- a/tests/verisense/calibrationDefaults.test.ts
+++ b/tests/verisense/calibrationDefaults.test.ts
@@ -142,7 +142,7 @@ describe('buildDefaultVerisenseCalibrationSet', () => {
     const accel2g = set.getImu(CalibSensorId.LSM6DSV_ACCEL, 0)!;
     expect(accel2g.bias).toEqual([0, 0, 0]);
     expect(accel2g.sens[0]).toBe(Math.fround(1671.665922915));
-    expect(accel2g.align).toEqual([0, -1, 0, 0, 0, 1, -1, 0, 0]);
+    expect(accel2g.align).toEqual([0, 1, 0, 0, 0, 1, 1, 0, 0]);
     expect(set.blocks.every((b) => b.isDefault)).toBe(true);
   });
 });