AtomRC F405 Navi: reversed roll in HUD

Hi everyone,

I am configuring Ardupilot on my AtomRC F405 NAVI (AtomRC Dolphin fixed-wing). I flashed 4.6.1 but right now whenever I roll right, the HUD in MP shows right bank, and vice verse, whenever I roll right, the HUD shows left bank. Pitch and yaw work fine. Obviously I have tested with arrow on FC pointing forward (nose of the vehicle) with the logo on top. All parameters are default (that is why I do not see a point in sending them here).

I tried to play around with AHRS_ORIENTATION, but no success – either the FC is upside down or when roll is fine, the pitch is reversed.

INAV works out-of-the-box: I looked at ardupilot/libraries/AP_HAL_ChibiOS/hwdef /ATOMRCF405NAVI/hwdef.dat and found this ROTATION_PITCH_180, which corresponds to INAV’s src/main/target/ATOMRCF405NAVI/target.c CW180_DEG (the difference is only upside down which cross-referenced with other FCs that I have worked with before). So in principle everything should be fine.

I have also tried previous versions, namely, 4.5.7 and 4.4.4 with no success.

I noticed that this FC uses BMI270 IMU, could the problem be with the negated sign of y-axis of IMU?

Thanks!