The unified diff between revisions [bfc9e27f..] and [3dc5e7ac..] is displayed below. It can also be downloaded as a raw diff.

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);