diff --git a/rootfs/usr/share/inputplumber/devices/50-msi_claw_a8_bz2e.yaml b/rootfs/usr/share/inputplumber/devices/50-msi_claw_a8_bz2e.yaml
index 5b6ab87d..f3076c3c 100644
--- a/rootfs/usr/share/inputplumber/devices/50-msi_claw_a8_bz2e.yaml
+++ b/rootfs/usr/share/inputplumber/devices/50-msi_claw_a8_bz2e.yaml
@@ -130,15 +130,22 @@ source_devices:
         - Keyboard:KeyLeftBrace
         - Keyboard:KeyRightBrace
 
+  ## TODO: Fix in refactor, unit scale is wrong and this provides sub 0.1deg/sec of motion.
   # IMU
   - group: imu
     iio:
       name: gyro_3d
       mount_matrix:
-        # TODO: Verify
         x: [0, 1, 0]
-        y: [-1, 0, 0]
-        z: [0, 0, -1]
+        y: [1, 0, 0]
+        z: [0, 0, 1]
+  - group: imu
+    iio:
+      name: accel_3d
+      mount_matrix:
+        x: [0, 1, 0]
+        y: [1, 0, 0]
+        z: [0, 0, 1]
 
 # Optional configuration for the composite device
 options:
diff --git a/rootfs/usr/share/inputplumber/devices/50-onexplayer_onexfly.yaml b/rootfs/usr/share/inputplumber/devices/50-onexplayer_onexfly.yaml
index d4cf3338..2c4bee7f 100644
--- a/rootfs/usr/share/inputplumber/devices/50-onexplayer_onexfly.yaml
+++ b/rootfs/usr/share/inputplumber/devices/50-onexplayer_onexfly.yaml
@@ -53,6 +53,10 @@ source_devices:
   - group: imu
     iio:
       name: "{i2c-BMI0160:00,bmi260}"
+      mount_matrix:
+        x: [0, -1, 0]
+        y: [1, 0, 0]
+        z: [0, 0, -1]
 
 # Optional configuration for the composite device
 options:
diff --git a/rootfs/usr/share/inputplumber/devices/50-rog_ally.yaml b/rootfs/usr/share/inputplumber/devices/50-rog_ally.yaml
index 64e9ac13..09712f0c 100644
--- a/rootfs/usr/share/inputplumber/devices/50-rog_ally.yaml
+++ b/rootfs/usr/share/inputplumber/devices/50-rog_ally.yaml
@@ -44,7 +44,7 @@ source_devices:
       name: bmi323-imu
       mount_matrix:
         x: [1, 0, 0]
-        y: [0, -1, 0]
+        y: [0, 1, 0]
         z: [0, 0, -1]
   - group: led
     udev:
diff --git a/rootfs/usr/share/inputplumber/devices/50-rog_ally_x.yaml b/rootfs/usr/share/inputplumber/devices/50-rog_ally_x.yaml
index a4b15a52..5d5028af 100644
--- a/rootfs/usr/share/inputplumber/devices/50-rog_ally_x.yaml
+++ b/rootfs/usr/share/inputplumber/devices/50-rog_ally_x.yaml
@@ -43,7 +43,7 @@ source_devices:
       name: bmi323-imu
       mount_matrix:
         x: [1, 0, 0]
-        y: [0, -1, 0]
+        y: [0, 1, 0]
         z: [0, 0, -1]
   - group: led
     udev:
diff --git a/src/drivers/lego/go2_driver.rs b/src/drivers/lego/go2_driver.rs
index 7fa1b912..0c7faab1 100644
--- a/src/drivers/lego/go2_driver.rs
+++ b/src/drivers/lego/go2_driver.rs
@@ -448,7 +448,7 @@ impl Driver {
                 events.push(Event::Axis(AxisEvent::MultiAccel(ImuAxisInput {
                     pitch: -(state.left_accel_x + state.right_accel_x) / 2,
                     roll: (state.left_accel_y + state.right_accel_y) / 2,
-                    yaw: (state.left_accel_z + state.right_accel_z) / 2,
+                    yaw: -(state.left_accel_z + state.right_accel_z) / 2,
                 })))
             }
             if !self
@@ -491,7 +491,7 @@ impl Driver {
                 events.push(Event::Axis(AxisEvent::MultiGyro(ImuAxisInput {
                     pitch: -(state.left_gyro_x + state.right_gyro_x) / 2,
                     roll: (state.left_gyro_y + state.right_gyro_y) / 2,
-                    yaw: (state.left_gyro_z + state.right_gyro_z) / 2,
+                    yaw: -(state.left_gyro_z + state.right_gyro_z) / 2,
                 })))
             }
         }