From cc9acfdb72a0ba6e1c00d024faca8d1595928c4b Mon Sep 17 00:00:00 2001
From: Joe DiPrima <epilectrik@gmail.com>
Date: Sun, 22 Feb 2026 12:28:51 -0600
Subject: [PATCH] =?UTF-8?q?Reduce=20IMU=20pitch=20offset=20from=20-6=C2=B0?=
 =?UTF-8?q?=20to=20-3=C2=B0=20(was=20over-correcting)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

-6° caused forward lean. Splitting the difference.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
---
 .../include/input_interface/gamepad_manager.hpp                 | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp
index 0d60dd8..4cfe475 100644
--- a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp
+++ b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp
@@ -47,7 +47,7 @@
 #include "../localmotion_kplanner.hpp"  // For LocomotionMode enum
 
 /// Runtime-adjustable IMU pitch offset (degrees). Keys 9/0 to adjust via tmux.
-inline std::atomic<double> g_imu_pitch_offset_deg{-6.0};
+inline std::atomic<double> g_imu_pitch_offset_deg{-3.0};
 
 #if HAS_ROS2
 #include "ros2_input_handler.hpp"