diff --git a/Source/BSP/Src/imu_processing.c b/Source/BSP/Src/imu_processing.c
index 876673c..4d9e37f 100644
--- a/Source/BSP/Src/imu_processing.c
+++ b/Source/BSP/Src/imu_processing.c
@@ -37,7 +37,7 @@ void imu_read_scaled(imu_scaled_t* out)
 	
 	out->ax = raw.ax / ACCEL_SENS_SCALE_FACTOR - accel_bias_x;
 	out->ay = raw.ay / ACCEL_SENS_SCALE_FACTOR - accel_bias_y;
-	out->az = raw.az / ACCEL_SENS_SCALE_FACTOR - accel_bias_z;
+	out->az = raw.az / ACCEL_SENS_SCALE_FACTOR - accel_bias_z + 1;
 	
 	out->ax = biquad_apply(&accel_x_lpf, out->ax);
 	out->ay = biquad_apply(&accel_y_lpf, out->ay);
diff --git a/Source/INS/IRS.c b/Source/INS/IRS.c
index 5a105b1..c6a5fd7 100644
--- a/Source/INS/IRS.c
+++ b/Source/INS/IRS.c
@@ -31,7 +31,7 @@ void IRS_update(IRS* irs, float dt)
 	
 	// accel update
 	
-	Vector3 accel = {irs->accel.x, irs->accel.y, -irs->accel.z};
+	Vector3 accel = {irs->accel.x, irs->accel.y, irs->accel.z};
 	restoreQuat(irs, &accel);
 	
 	// /accel update