From 5dc6f564988dfbf4bfcfff22d1175fe3f08b1b14 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 16 Dec 2021 21:20:21 +0100
Subject: [PATCH] Fix BMI270 ACC direction for pitch and roll

---
 src/main/drivers/accgyro/accgyro_bmi270.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/accgyro/accgyro_bmi270.c b/src/main/drivers/accgyro/accgyro_bmi270.c
index b9752b37b7a..e41193a5c9b 100644
--- a/src/main/drivers/accgyro/accgyro_bmi270.c
+++ b/src/main/drivers/accgyro/accgyro_bmi270.c
@@ -274,8 +274,8 @@ static bool bmi270AccReadScratchpad(accDev_t *acc)
     bmi270ContextData_t * ctx = busDeviceGetScratchpadMemory(acc->busDev);
 
     if (ctx->lastReadStatus) {
-        acc->ADCRaw[X] = (int16_t)((ctx->accRaw[1] << 8) | ctx->accRaw[0]);
-        acc->ADCRaw[Y] = (int16_t)((ctx->accRaw[3] << 8) | ctx->accRaw[2]);
+        acc->ADCRaw[X] = -(int16_t)((ctx->accRaw[1] << 8) | ctx->accRaw[0]);
+        acc->ADCRaw[Y] = -(int16_t)((ctx->accRaw[3] << 8) | ctx->accRaw[2]);
         acc->ADCRaw[Z] = (int16_t)((ctx->accRaw[5] << 8) | ctx->accRaw[4]);
         return true;
     }