From d87e165b06b8ffee736245c6fb2047d6d8038ee0 Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Thu, 6 Jun 2013 14:08:53 -0700
Subject: [PATCH] Acceleration is presumably relative to the current
 orientation.

---
 interface/src/SerialInterface.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/interface/src/SerialInterface.cpp b/interface/src/SerialInterface.cpp
index 5bcb8b32ca..e0c5da889b 100644
--- a/interface/src/SerialInterface.cpp
+++ b/interface/src/SerialInterface.cpp
@@ -260,7 +260,8 @@ void SerialInterface::readData(float deltaTime) {
             } else {
                 //  Use gravity reading to do sensor fusion on the pitch and roll estimation
                 estimatedRotation = safeMix(estimatedRotation,
-                    rotationBetween(_gravity, _lastAcceleration) * estimatedRotation, 1.0f / SENSOR_FUSION_SAMPLES);
+                    rotationBetween(estimatedRotation * _lastAcceleration, _gravity) * estimatedRotation,
+                    1.0f / SENSOR_FUSION_SAMPLES);
             }
         }