- float x = ao_mpu6000_gyro(ao_sample_pitch - ao_ground_pitch) * dt;
- float y = ao_mpu6000_gyro(ao_sample_yaw - ao_ground_yaw) * dt;
- float z = ao_mpu6000_gyro(ao_sample_roll - ao_ground_roll) * dt;
-
- float n_2, n;
- float s, c;
-
+ 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;