X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosState.java;h=9ee3d57ddf814fe340ef53df61fa2e31758d5cae;hp=6f2936529959ed1b71be688969d22c00ad1fc475;hb=fbe87bd18308cab62eda6d5e956a8618095ed33b;hpb=a61217f0a6d0ef48b6471f632c4600255867e831

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 6f293652..9ee3d57d 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -909,11 +909,11 @@ public class AltosState extends AltosDataListener {
 	public double	accel_ground_along, accel_ground_across, accel_ground_through;
 
 	void update_pad_rotation() {
-		if (cal_data.pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
-			rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data.accel_zero_across),
-						     AltosIMU.convert_accel(accel_ground_through - cal_data.accel_zero_through),
-						     AltosIMU.convert_accel(accel_ground_along - cal_data.accel_zero_along),
-						     cal_data.pad_orientation);
+		if (cal_data().pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
+			rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data().accel_zero_across),
+						     AltosIMU.convert_accel(accel_ground_through - cal_data().accel_zero_through),
+						     AltosIMU.convert_accel(accel_ground_along - cal_data().accel_zero_along),
+						     cal_data().pad_orientation);
 			orient.set_computed(rotation.tilt(), time);
 		}
 	}
@@ -931,12 +931,12 @@ public class AltosState extends AltosDataListener {
 		if (last_imu_time != AltosLib.MISSING) {
 			double	t = time - last_imu_time;
 
-			double	pitch = AltosConvert.degrees_to_radians(gyro_pitch);
-			double	yaw = AltosConvert.degrees_to_radians(gyro_yaw);
-			double	roll = AltosConvert.degrees_to_radians(gyro_roll);
+			if (t > 0 && gyro_pitch != AltosLib.MISSING && rotation != null) {
+				double	pitch = AltosConvert.degrees_to_radians(gyro_pitch) * t;
+				double	yaw = AltosConvert.degrees_to_radians(gyro_yaw) * t;
+				double	roll = AltosConvert.degrees_to_radians(gyro_roll) * t;
 
-			if (t > 0 && pitch != AltosLib.MISSING && rotation != null) {
-				rotation.rotate(t, pitch, yaw, roll);
+				rotation.rotate(pitch, yaw, roll);
 				orient.set_computed(rotation.tilt(), time);
 			}
 		}
@@ -1066,8 +1066,6 @@ public class AltosState extends AltosDataListener {
 
 	public AltosState (AltosCalData cal_data) {
 		super(cal_data);
-		if (cal_data == null)
-			Thread.dumpStack();
 		init();
 	}
 }