diff --git a/static/scripts/cubes.js b/static/scripts/cubes.js
index 27611d0..4f18b4f 100644
--- a/static/scripts/cubes.js
+++ b/static/scripts/cubes.js
@@ -55,15 +55,19 @@ scene.add(pointLight);
 cube.position.x = 0
 cube2.position.x = 0
 
-let manCalibration = new THREE.Euler( 0, 0, 0, 'XYZ' )
+// calibration globals
+let manCalibration = new THREE.Euler( 0, 0, 0, 'YXZ' )
 let calibrationRot = new THREE.Quaternion()
+let calPitch = 0
+let calRoll = 0
+let calYaw = 0
 
 let quaternionOffset = document.getElementById("quaternionOffset")
 
 function renderTCP(x, y, z) {
     let calibration = new THREE.Quaternion().setFromEuler(manCalibration)
     // let calibration = new THREE.Quaternion().setFromEuler(new THREE.Euler( radFromAngle, 0, 0, 'YXZ' ))
-    let eul = new THREE.Euler( x, z, y, 'YXZ' );
+    let eul = new THREE.Euler( x, y, z, 'YXZ' );
 
     // let eul = new THREE.Euler( x, z, y, 'ZXY' ); // XYZ XZY YZX YXZ ZXY ZYX
     cube2.quaternion.setFromEuler(eul).multiply(calibrationRot).multiply(calibration)
@@ -76,9 +80,7 @@ function renderTCP(x, y, z) {
 function renderSerial(x, y, z) {
     // requestAnimationFrame(renderSerial);
 
-    // let eul = new THREE.Euler( x, y, z, 'YXZ' ); // XYZ XZY YZX YXZ ZXY ZYX
-    // let eul = new THREE.Euler( x, z, y, 'ZXY' ); // XYZ XZY YZX YXZ ZXY ZYX
-    let eul = new THREE.Euler( x, z, y, 'YXZ' );
+    let eul = new THREE.Euler( x, y, z, 'YXZ' ); // XYZ XZY YZX YXZ ZXY ZYX
 
     cube.quaternion.setFromEuler(eul)
 
@@ -106,10 +108,12 @@ rollRange.oninput = () => {
 
 function delCalibration(evt) {
     calibrationRot = new THREE.Quaternion()
-    manCalibration = new THREE.Euler( 0, 0, 0, 'XYZ' )
+    manCalibration = new THREE.Euler( 0, 0, 0, 'YXZ' )
     pitchRange.value = 0
     yawRange.value = 0
     rollRange.value = 0
+    calRoll = 0
+    calPitch = 0
 }
 
 var calState = false;
@@ -126,7 +130,7 @@ function manualCalibration(evt) {
         calState = !calState
         console.log("mancal OFF")
         con.style.display = "none"
-        manCalibration = new THREE.Euler( 0, 0, 0, 'XYZ' )
+        manCalibration = new THREE.Euler( 0, 0, 0, 'YXZ' )
         pitchRange.value = 0
         yawRange.value = 0
         rollRange.value = 0
@@ -137,6 +141,14 @@ function calibrate(evt) {
     let serOrientation = cube.quaternion.clone()
     let tcpOrientation = cube2.quaternion.clone().multiply(calibrationRot.clone().invert())
     let diff = tcpOrientation.invert().multiply(serOrientation)
+
+    let old = new THREE.Euler().setFromQuaternion( cube2.quaternion, 'YXZ' )
+    let dif = new THREE.Euler().setFromQuaternion( diff )
+    console.log("OLD:","pitch", old.x * 180/Math.PI, "yaw", old.y * 180/Math.PI, "roll", old.z * 180/Math.PI)
+    console.log("DIFF:","pitch", dif.x * 180/Math.PI, "yaw", dif.y * 180/Math.PI, "roll", dif.z * 180/Math.PI)
+    calPitch = dif.x // * 180/Math.PI
+    calYaw = dif.y // * 180/Math.PI
+    calRoll = dif.z // * 180/Math.PI
     calibrationRot = diff
 };
 document.getElementById("deleteCalibration").onclick = delCalibration
@@ -176,9 +188,9 @@ function setIndicatorsTcp(sensordata) {
 
     if (sensordata.Orientation[0] !== 0 && sensordata.Orientation[1] !== 0) {
         //attitudeTcp.setPitch(sensordata.Orientation[0])
-        attitudeTcp.setPitch(-q.x * 180 / Math.PI * -1)
+        attitudeTcp.setPitch(q.x * 180 / Math.PI)
         //attitudeTcp.setRoll(sensordata.Orientation[1])
-        attitudeTcp.setRoll(-q.z * 180 / Math.PI * -1)
+        attitudeTcp.setRoll(q.z * 180 / Math.PI)
     }
 
     // Heading from quaternion
@@ -197,8 +209,8 @@ function setIndicatorsSer(sensordata) {
     let q = new THREE.Euler().setFromQuaternion( cube.quaternion, 'YXZ' )
 
     if (sensordata.Orientation[0] !== 0 && sensordata.Orientation[1] !== 0) {
-        attitudeSer.setPitch(-sensordata.Orientation[0])
-        attitudeSer.setRoll(-sensordata.Orientation[1])
+        attitudeSer.setPitch(sensordata.Orientation[0])
+        attitudeSer.setRoll(sensordata.Orientation[1])
     }
 
     // Heading from quaternion
diff --git a/static/scripts/websocket.js b/static/scripts/websocket.js
index add721d..9460ec6 100644
--- a/static/scripts/websocket.js
+++ b/static/scripts/websocket.js
@@ -30,17 +30,17 @@ window.addEventListener("load", function(evt) {
     }
     const wsOnMessageF = function (evt) {
         let dat = JSON.parse(evt.data)
-        //console.log(dat)
+        // console.log(dat)
         if ('SOURCE_TCP' in dat) {
             setIndicatorsTcp(dat.SOURCE_TCP)
         }
         try{
             if(!(dat.SOURCE_TCP.Orientation[0] === 0) && !(dat.SOURCE_TCP.Orientation[1] === 0) && !(dat.SOURCE_TCP.Orientation[2] === 0)){
-                let heading = (dat.SOURCE_TCP.Orientation[2]+90)%360 // dat.SOURCE_TCP.Orientation[2]//
+                let heading = (dat.SOURCE_TCP.Orientation[2]+90)%360 // dat.SOURCE_TCP.Orientation[2] //
                 // if (dat.SOURCE_TCP.HeadDevice !== 0) { heading = dat.SOURCE_TCP.HeadDevice; }
                 // if (dat.SOURCE_TCP.HeadMotion !== 0) { heading = dat.SOURCE_TCP.HeadMotion; console.log("head motion") }
 
-                renderTCP(dat.SOURCE_TCP.Orientation[0]*Math.PI/180,-dat.SOURCE_TCP.Orientation[1]*Math.PI/180,heading*Math.PI/180)
+                renderTCP((dat.SOURCE_TCP.Orientation[0]*Math.PI/180),heading*Math.PI/180,-(dat.SOURCE_TCP.Orientation[1]*Math.PI/180))
             }
             if(!(dat.SOURCE_TCP.Position[1] === 0) && !(dat.SOURCE_TCP.Position[0] === 0)){
                 document.getElementById("TCPlong").innerHTML = "Smartphone long: " + dat.SOURCE_TCP.Position[1]
@@ -70,7 +70,7 @@ window.addEventListener("load", function(evt) {
             if(!(dat.SOURCE_SERIAL.Orientation[0] === 0) && /*!(dat.SOURCE_SERIAL.Orientation[1] === 0) &&*/ !(dat.SOURCE_SERIAL.Orientation[2] === 0)){
                 // document.getElementById("gyroscopeSERIAL").style.transform = `rotateX(${dat.SOURCE_SERIAL.Orientation[0]}deg) rotateY(${dat.SOURCE_SERIAL.Orientation[1]}deg) rotateZ(0deg)`
                 // document.getElementById("gyroscopeSERIAL").style.transform = `rotateX(${dat.SOURCE_SERIAL.Orientation[0]}deg) rotateY(${dat.SOURCE_SERIAL.Orientation[1]}deg) rotateZ(${dat.SOURCE_SERIAL.Orientation[2]}deg)`
-                renderSerial(dat.SOURCE_SERIAL.Orientation[0]*Math.PI/180,dat.SOURCE_SERIAL.Orientation[1]*Math.PI/180,-dat.SOURCE_SERIAL.Orientation[2]*Math.PI/180)
+                renderSerial(dat.SOURCE_SERIAL.Orientation[0]*Math.PI/180,-dat.SOURCE_SERIAL.Orientation[2]*Math.PI/180,dat.SOURCE_SERIAL.Orientation[1]*Math.PI/180)
             }
             if(!(dat.SOURCE_SERIAL.Position[1] === 0) && !(dat.SOURCE_SERIAL.Position[0] === 0)){
                 document.getElementById("SERIALlong").innerHTML = "Ublox long: " + dat.SOURCE_SERIAL.Position[1]
diff --git a/templates/index.html b/templates/index.html
index c8cd8af..12d5af6 100644
--- a/templates/index.html
+++ b/templates/index.html
@@ -182,11 +182,11 @@
         <button id="manualCalibration">Manuelle Kalibrierung</button>
         <div id="manCalContainer">
           <p><br>Manuelle Kalibrierung</p>
-          <label>Pitch<input type="range" min="-90" max="90" value="0" class="slider" id="pitchRange"
+          <label>Pitch<input type="range" min="-180" max="180" value="0" class="slider" id="pitchRange"
                              style="margin: 10px 0px"></label>
-          <label>Yaw<input type="range" min="-90" max="90" value="0" class="slider" id="yawRange"
+          <label>Yaw<input type="range" min="-180" max="180" value="0" class="slider" id="yawRange"
                            style="margin: 10px 0px"></label>
-          <label>Roll<input type="range" min="-90" max="90" value="0" class="slider" id="rollRange"
+          <label>Roll<input type="range" min="-180" max="180" value="0" class="slider" id="rollRange"
                             style="margin: 10px 0px"></label>
         </div>
       </div>