From a77441b78ae626394dd86616f38d130a29875d18 Mon Sep 17 00:00:00 2001
From: Jonah Bonner <47046556+jwbonner@users.noreply.github.com>
Date: Wed, 25 Jun 2025 01:34:50 -0400
Subject: [PATCH] [hal] Fix portrait yaw from onboard IMU (#8037)

---
 hal/src/main/native/systemcore/IMU.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/hal/src/main/native/systemcore/IMU.cpp b/hal/src/main/native/systemcore/IMU.cpp
index 4782a3a5cc..23e3c2e934 100644
--- a/hal/src/main/native/systemcore/IMU.cpp
+++ b/hal/src/main/native/systemcore/IMU.cpp
@@ -123,7 +123,7 @@ double HAL_GetIMUYawLandscape(int64_t* timestamp) {
 }
 
 double HAL_GetIMUYawPortrait(int64_t* timestamp) {
-  auto update = imu->yawFlatSub.GetAtomic();
+  auto update = imu->yawPortraitSub.GetAtomic();
   *timestamp = update.time;
   return update.value * kDegreesToRadians;
 }