diff --git a/.gitignore b/.gitignore
index 9a97992..2f470ea 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,4 @@
 *~
 config/my_razor.yaml
+.idea/
+
diff --git a/nodes/imu_node.py b/nodes/imu_node.py
index 27a4275..527b17d 100755
--- a/nodes/imu_node.py
+++ b/nodes/imu_node.py
@@ -239,9 +239,9 @@ def reconfig_callback(config, level):
         # Publish message
         # AHRS firmware accelerations are negated
         # This means y and z are correct for ROS, but x needs reversing
-        imuMsg.linear_acceleration.x = -float(words[3]) * accel_factor
-        imuMsg.linear_acceleration.y = float(words[4]) * accel_factor
-        imuMsg.linear_acceleration.z = float(words[5]) * accel_factor
+        imuMsg.linear_acceleration.x = float(words[3]) * accel_factor
+        imuMsg.linear_acceleration.y = -float(words[4]) * accel_factor
+        imuMsg.linear_acceleration.z = -float(words[5]) * accel_factor
 
         imuMsg.angular_velocity.x = float(words[6])
         #in AHRS firmware y axis points right, in ROS y axis points left (see REP 103)