X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_sample.c;h=61519478a2a2c6ab1df8f36c7db14869e37fe20c;hb=f0068719b17019c5cd7ed318364a0581caf64e1a;hp=34658951724e7166dbc3008a9079a2f7a1df8e59;hpb=24167015705ae831692b95735968b04a876f935e;p=fw%2Faltos

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 34658951..61519478 100644
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -179,13 +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);
@@ -245,7 +246,7 @@ ao_sample_preflight(void)
 	} else {
 #if HAS_ACCEL
 		ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
-		ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
+		ao_accel_scale = to_fix_32(GRAVITY * 2 * 16) / ao_accel_2g;
 #endif
 		ao_sample_preflight_set();
 		ao_preflight = FALSE;