diff options
Diffstat (limited to 'altoslib/AltosState.java')
| -rw-r--r-- | altoslib/AltosState.java | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index cfee819b..9ee3d57d 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -931,12 +931,12 @@ public class AltosState extends AltosDataListener { if (last_imu_time != AltosLib.MISSING) { double t = time - last_imu_time; - double pitch = AltosConvert.degrees_to_radians(gyro_pitch); - double yaw = AltosConvert.degrees_to_radians(gyro_yaw); - double roll = AltosConvert.degrees_to_radians(gyro_roll); + if (t > 0 && gyro_pitch != AltosLib.MISSING && rotation != null) { + double pitch = AltosConvert.degrees_to_radians(gyro_pitch) * t; + double yaw = AltosConvert.degrees_to_radians(gyro_yaw) * t; + double roll = AltosConvert.degrees_to_radians(gyro_roll) * t; - if (t > 0 && pitch != AltosLib.MISSING && rotation != null) { - rotation.rotate(t, pitch, yaw, roll); + rotation.rotate(pitch, yaw, roll); orient.set_computed(rotation.tilt(), time); } } |