double dt = time - prev_time;
if (dt > 0) {
- double roll = AltosConvert.degrees_to_radians(roll_v.value);
- double pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time));
- double yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time));
+ double roll = AltosConvert.degrees_to_radians(roll_v.value) * dt;
+ double pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time)) * dt;
+ double yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time)) * dt;
- rotation.rotate(dt, pitch, yaw, roll);
+ rotation.rotate(pitch, yaw, roll);
orient_series.add(time, rotation.tilt());
}
prev_time = time;