Solved a problem with the sign of the accelerometer sensor.

Chnaged the sign of the X axis of the gyroscope sensor.

src/imu.c

@@ -258,7 +258,7 @@ void imu_accel_convert_data(uint8_t *data_in,uint8_t *data_out)
 
   for(i=0;i<3;i++)
   {
-    accel_data[i]=(data_in[i*2]+(data_in[i*2+1]<<8));
+    accel_data[i]=(int16_t)(data_in[i*2]+(data_in[i*2+1]<<8));
     data_out[i*2]=accel_data[i]%256;
     data_out[i*2+1]=accel_data[i]/256;
   }

src/motion_manager.c

@@ -149,10 +149,10 @@ void manager_balance(void)
     manager_balance_offset[R_ANKLE_PITCH]=((((int64_t)gyro_y*(int64_t)ankle_pitch_gain)/12000)>>9);    
     manager_balance_offset[L_KNEE]=((((int64_t)gyro_y*(int64_t)knee_gain)/12000)>>9);    
     manager_balance_offset[L_ANKLE_PITCH]=-((((int64_t)gyro_y*(int64_t)ankle_pitch_gain)/12000)>>9);
-    manager_balance_offset[R_HIP_ROLL]=-((((int64_t)gyro_x*(int64_t)hip_roll_gain)/12000)>>9);
-    manager_balance_offset[L_HIP_ROLL]=-((((int64_t)gyro_x*(int64_t)hip_roll_gain)/12000)>>9);
-    manager_balance_offset[R_ANKLE_ROLL]=((((int64_t)gyro_x*(int64_t)ankle_roll_gain)/12000)>>9);
-    manager_balance_offset[L_ANKLE_ROLL]=((((int64_t)gyro_x*(int64_t)ankle_roll_gain)/12000)>>9);
+    manager_balance_offset[R_HIP_ROLL]=((((int64_t)gyro_x*(int64_t)hip_roll_gain)/12000)>>9);
+    manager_balance_offset[L_HIP_ROLL]=((((int64_t)gyro_x*(int64_t)hip_roll_gain)/12000)>>9);
+    manager_balance_offset[R_ANKLE_ROLL]=-((((int64_t)gyro_x*(int64_t)ankle_roll_gain)/12000)>>9);
+    manager_balance_offset[L_ANKLE_ROLL]=-((((int64_t)gyro_x*(int64_t)ankle_roll_gain)/12000)>>9);
   }
   // fall detection (using accelerometer)
   imu_get_accel_data(&accel_x,&accel_y,&accel_z);