diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index 7436a3c..a6375f3 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -297,7 +297,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
     current_state.d_theta = c->vmc_[0].leg.d_theta;
     current_state.x = xhat;
     current_state.d_x = x_dot_hat;
-    current_state.phi = -c->feedback.imu.euler.rol;
+    current_state.phi = c->feedback.imu.euler.rol;
     current_state.d_phi = c->feedback.imu.gyro.y;
 
     LQR_UpdateState(&c->lqr[0], &current_state);