From 905906620668eefdfb9cbd0df7daaaf3408b67a9 Mon Sep 17 00:00:00 2001
From: Victoria Fischer <tdfischer@hackerbots.net>
Date: Wed, 24 Dec 2025 09:42:57 +0100
Subject: [PATCH] ego: orientation: allow for a more generous definition of
 earth gravity

---
 src/ego/orientation.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/ego/orientation.rs b/src/ego/orientation.rs
index 1799898..90396cb 100644
--- a/src/ego/orientation.rs
+++ b/src/ego/orientation.rs
@@ -33,7 +33,7 @@ impl OrientationEstimator {
                     // Estimate down from stationary accel
                     let avg = self.accel_history.data().iter().sum::<Vector3<f32>>()
                         / (self.accel_history.data().len() as f32);
-                    if avg.norm() >= 9.764 && avg.norm() <= 9.834 {
+                    if avg.norm() >= 9.1 && avg.norm() <= 9.9 {
                         self.down = Some(Unit::new_normalize(-avg));
                         self.sensor_bias = avg;
                         info!("Found down={:?} bias={:?}", self.down, self.sensor_bias);