gui: make octopus pitch the right way

3 files changed, 7 insertions, 7 deletions

diff --git a/gui/ui.cpp b/gui/ui.cpp
index 94fd0cbf..6cd2d819 100644
--- a/gui/ui.cpp
+++ b/gui/ui.cpp
@@ -332,7 +332,7 @@ void MainWindow::startTracker()
     // trackers take care of layout state updates
     const bool is_inertial = ui.video_frame->layout() == nullptr;
     updateButtonState(true, is_inertial);
-    
+
     // Update the state of the options window directly.
     // Might be better to emit signals and allow the options window
     // to connect its slots to them (?)
@@ -371,7 +371,7 @@ void MainWindow::stopTracker()
         display_pose(p, p);
     }
     updateButtonState(false, false);
-    
+
     if (options_widget)
         options_widget->update_widgets_states(false);
 
@@ -382,7 +382,7 @@ void MainWindow::stopTracker()
 
 void MainWindow::display_pose(const double *mapped, const double *raw)
 {
-    ui.pose_display->rotateBy(mapped[Yaw], -mapped[Pitch], -mapped[Roll],
+    ui.pose_display->rotateBy(mapped[Yaw], mapped[Pitch], -mapped[Roll],
                               mapped[TX], mapped[TY], mapped[TZ]);
 
     if (mapping_widget)
diff --git a/pose-widget/glwidget.cpp b/pose-widget/glwidget.cpp
index 27e6becd..9523cd1f 100644
--- a/pose-widget/glwidget.cpp
+++ b/pose-widget/glwidget.cpp
@@ -33,7 +33,7 @@ void GLWidget::paintEvent (QPaintEvent * event)
     p.drawImage(event->rect(), image);
 }
 
-void GLWidget::rotateBy(float xAngle, float yAngle, float zAngle, float x, float y, float z)
+void GLWidget::rotateBy(double xAngle, double yAngle, double zAngle, double x, double y, double z)
 {
     if (visible_timer.elapsed_ms() > 250)
     {
@@ -47,11 +47,11 @@ void GLWidget::rotateBy(float xAngle, float yAngle, float zAngle, float x, float
     using std::sin;
     using std::cos;
 
-    static constexpr num d2r = float(OPENTRACK_PI / 180);
+    static constexpr double d2r = OPENTRACK_PI / 180;
 
     translation = vec3(x, y, z);
 
-    euler::euler_t euler(-zAngle * d2r, xAngle * d2r, yAngle * d2r);
+    euler::euler_t euler(-zAngle * d2r, xAngle * d2r, -yAngle * d2r);
     euler::rmat r = euler::euler_to_rmat(euler);
 
     for (int i = 0; i < 3; i++)
diff --git a/pose-widget/glwidget.h b/pose-widget/glwidget.h
index 6cccdfcd..03ca5d48 100644
--- a/pose-widget/glwidget.h
+++ b/pose-widget/glwidget.h
@@ -30,7 +30,7 @@ public:
 
     GLWidget(QWidget *parent);
     ~GLWidget();
-    void rotateBy(float xAngle, float yAngle, float zAngle, float x, float y, float z);
+    void rotateBy(double xAngle, double yAngle, double zAngle, double x, double y, double z);
 protected:
     void paintEvent (QPaintEvent *event) override;
 private: