From: Olivier Matz <zer0@droids-corp.org>
Date: Tue, 9 Sep 2014 17:04:07 +0000 (+0200)
Subject: fix global imu position
X-Git-Url: http://git.droids-corp.org/?a=commitdiff_plain;h=7a935b805ebd1733085a7bb8075de8eae34c4b99;p=fpv.git

fix global imu position
---

diff --git a/imuboard/imu.c b/imuboard/imu.c
index 7e9a17f..c113e1c 100644
--- a/imuboard/imu.c
+++ b/imuboard/imu.c
@@ -57,8 +57,8 @@ static void imu_cb(struct callout_mgr *cm, struct callout *tim, void *arg)
 	IRQ_UNLOCK(irq_flags);
 
 	mpu6050_read_all_axes(&g_imu);
-	MadgwickAHRSupdate(&g_imu, &g_quat);
-	quaternion2euler(&g_quat, &g_euler);
+	MadgwickAHRSupdate(&g_imu, &quat);
+	quaternion2euler(&quat, &g_euler);
 
 	/* update global variables */
 	IRQ_LOCK(irq_flags);