X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_sample.c;h=61519478a2a2c6ab1df8f36c7db14869e37fe20c;hb=f0068719b17019c5cd7ed318364a0581caf64e1a;hp=f0ab0169805fb6a1db38ddde5ca7b803b2f530c9;hpb=cf20e213f39fb24f15e0ac94307c2d138fcadecb;p=fw%2Faltos

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index f0ab0169..61519478 100644
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -184,9 +184,9 @@ ao_sample_rotate(void)
 #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);