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fix global imu position
author
Olivier Matz
<zer0@droids-corp.org>
Tue, 9 Sep 2014 17:04:07 +0000
(19:04 +0200)
committer
Olivier Matz
<zer0@droids-corp.org>
Tue, 9 Sep 2014 17:49:31 +0000
(19:49 +0200)
imuboard/imu.c
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diff --git
a/imuboard/imu.c
b/imuboard/imu.c
index
7e9a17f
..
c113e1c
100644
(file)
--- 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);