+ cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
+
+ listener.set_accel(cal_data.accel_along(accel_along),
+ cal_data.accel_across(accel_across),
+ cal_data.accel_through(accel_through));
+ listener.set_gyro(cal_data.gyro_roll(gyro_roll),
+ cal_data.gyro_pitch(gyro_pitch),
+ cal_data.gyro_yaw(gyro_yaw));
+
+ listener.set_mag(cal_data.mag_along(mag_along),
+ cal_data.mag_across(mag_across),
+ cal_data.mag_through(mag_through));