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| author | Bdale Garbee <bdale@gag.com> | 2017-12-11 21:37:48 -0700 |
|---|---|---|
| committer | Bdale Garbee <bdale@gag.com> | 2017-12-11 21:37:48 -0700 |
| commit | ea0aa97fb93e669868a6f2c49c5d4b46e7615b1f (patch) | |
| tree | f16b9a9ccd8b4a7bcde7d5cc64e6f0a52c4f3436 /src/kernel/ao_sample.c | |
| parent | 216ea6388a75c46891dc4687a2eb0c97dc63b136 (diff) | |
| parent | 9adf8b23aac8256f230b10adcab9dd323266caaa (diff) | |
Merge branch 'master' into branch-1.8
Diffstat (limited to 'src/kernel/ao_sample.c')
| -rw-r--r-- | src/kernel/ao_sample.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c index f0ab0169..61519478 100644 --- a/src/kernel/ao_sample.c +++ b/src/kernel/ao_sample.c @@ -184,9 +184,9 @@ ao_sample_rotate(void) #else static const float dt = 1/TIME_DIV; #endif - float x = ao_mpu6000_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt; - float y = ao_mpu6000_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt; - float z = ao_mpu6000_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt; + float x = ao_convert_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt; + float y = ao_convert_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt; + float z = ao_convert_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt; struct ao_quaternion rot; ao_quaternion_init_half_euler(&rot, x, y, z); |