X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_sample.c;h=61519478a2a2c6ab1df8f36c7db14869e37fe20c;hb=40236913922e0395780cd7d90354546ecaf279f9;hp=90ea07adfa6843246dc6d3d52a14ad0298d5f0c3;hpb=1085ec5d57e0ed5d132f2bbdac1a0b6a32c0ab4a;p=fw%2Faltos

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 90ea07ad..61519478 100644
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -180,13 +180,13 @@ static void
 ao_sample_rotate(void)
 {
 #ifdef AO_FLIGHT_TEST
-	float	dt = (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
+	float	dt = (int16_t) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
 #else
 	static const float dt = 1/TIME_DIV;
 #endif
-	float	x = ao_mpu6000_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt;
-	float	y = ao_mpu6000_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt;
-	float	z = ao_mpu6000_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt;
+	float	x = ao_convert_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt;
+	float	y = ao_convert_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt;
+	float	z = ao_convert_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt;
 	struct ao_quaternion	rot;
 
 	ao_quaternion_init_half_euler(&rot, x, y, z);