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This diff has been restricted to the following files: 'mpu6050.c'
# # old_revision [bfc9e27f5c40da31ae4269394aaf0545e5856a70] # new_revision [3dc5e7ac4bcb952cc267892653dd78ed095d8778] # # patch "mpu6050.c" # from [22e024b9fe9133294e037dcd018832faa2d442bf] # to [5d8f76d27782d746df9ee37d7c9a9f1329e6996a] # ============================================================ --- mpu6050.c 22e024b9fe9133294e037dcd018832faa2d442bf +++ mpu6050.c 5d8f76d27782d746df9ee37d7c9a9f1329e6996a @@ -214,9 +214,8 @@ void mpu6050_event_handler(void) signed short int tempi; signed short int rolli, pitchi, yawi; - float x, y, z; + vec3f accel, gyro; float temp; - float roll, pitch, yaw; CHECKPOINT(9); @@ -252,18 +251,18 @@ void mpu6050_event_handler(void) yawi -= gyro_zero_yaw; } - x = ((float)xi) * ACCEL_SCALE; - y = ((float)yi) * ACCEL_SCALE; - z = ((float)zi) * ACCEL_SCALE; + accel.x = ((float)xi) * ACCEL_SCALE; + accel.y = ((float)yi) * ACCEL_SCALE; + accel.z = ((float)zi) * ACCEL_SCALE; temp = ((float)tempi) * TEMP_SCALE + TEMP_OFFSET; - roll = ((float)rolli) * GYRO_SCALE; - pitch = ((float)pitchi) * GYRO_SCALE; - yaw = ((float)yawi) * GYRO_SCALE; + gyro.x = ((float)rolli) * GYRO_SCALE; + gyro.y = ((float)pitchi) * GYRO_SCALE; + gyro.z = ((float)yawi) * GYRO_SCALE; - sensors_write_gyro_data(roll, pitch, yaw); - sensors_write_accel_data(x, y, z); + sensors_write_gyro_data(gyro); + sensors_write_accel_data(accel); sensors_write_temp_data(temp); log_put_array((char *)mpu6050_sample_data, 14);