No need to swap x and y.

Change-Id: I21a8d3eab9d31351d03c6cbcafd008d5b2fc6712
Reviewed-by: Laszlo Agocs <laszlo.agocs@theqtcompany.com>

2 files changed, 6 insertions, 9 deletions

diff --git a/README.md b/README.md
index eafd59a..a6a568b 100644
--- a/README.md
+++ b/README.md
@@ -65,8 +65,7 @@ Sensors example:
 
 Raspbian's default calibration from /etc is picked up automatically, similarly to the
 Python lib. Note however that this is a text file and numbers may not be parsable with
-locale settings that use a decimal separator other than the dot. If the orientation is
-reported as all-NaNs, check this first.
+locale settings that use a decimal separator other than the dot. If the orientation data
+is invalid, check this first.
 
-Orientation maintains compatibility with Python's get_orientation(): the QVector3D's x, y,
-z components correspond to pitch, roll, yaw in degrees in range 0..360.
+Orientation is converted to degrees in range 0..360. Other values are reported as-is.
diff --git a/src/sensehat/qsensehatsensors.cpp b/src/sensehat/qsensehatsensors.cpp
index 6f72cae..0baafef 100644
--- a/src/sensehat/qsensehatsensors.cpp
+++ b/src/sensehat/qsensehatsensors.cpp
@@ -230,11 +230,9 @@ void QSenseHatSensorsPrivate::report(const RTIMU_DATA &data, QSenseHatSensors::U
 
     if (what.testFlag(QSenseHatSensors::UpdateOrientation)) {
         if (data.fusionPoseValid) {
-            // To be compatible with the Python lib's get_orientation(), report
-            // degrees in range 0..360 and in the order pitch, roll, yaw.
-            orientation = QVector3D(toDeg360(data.fusionPose.y()),
-                                    toDeg360(data.fusionPose.x()),
-                                    toDeg360(data.fusionPose.z()));
+            orientation = QVector3D(toDeg360(data.fusionPose.x()),  // roll
+                                    toDeg360(data.fusionPose.y()),  // pitch
+                                    toDeg360(data.fusionPose.z())); // yaw
             emit q->orientationChanged(orientation);
         }
     }