X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_sample.c;h=a9d50cb2535c528947d4cc3fb0f8b8aa06df5828;hp=676e0ffdc74775a4e5201a4c38202be4bb331edd;hb=351d53836e201834a2d89773a08ab7c2dab2b2f4;hpb=08143a922fe27bc50a19924f46538f9476ab5fd1

diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c
index 676e0ffd..a9d50cb2 100644
--- a/src/core/ao_sample.c
+++ b/src/core/ao_sample.c
@@ -139,19 +139,16 @@ ao_sample_preflight_set(void)
 	/* No rotation yet */
 	ao_quaternion_init_zero_rotation(&ao_rotation);
 
-	/* XXX Assume we're pointing straight up for now */
+	/* Take the pad IMU acceleration values and compute our current direction
+	 */
 	ao_quaternion_init_vector(&ao_pad_orientation,
-				  ao_ground_accel_across,
-				  ao_ground_accel_through,
-				  -ao_ground_accel_along);
+				  ao_ground_accel_across - ao_config.accel_zero_across,
+				  ao_ground_accel_through - ao_config.accel_zero_through,
+				  -ao_ground_accel_along - ao_config.accel_zero_along);
+
 	ao_quaternion_normalize(&ao_pad_orientation,
 				&ao_pad_orientation);
 				  
-	printf ("pad r%8.5f x%8.5f y%8.5f z%8.5f\n",
-		ao_pad_orientation.r,
-		ao_pad_orientation.x,
-		ao_pad_orientation.y,
-		ao_pad_orientation.z);
 #endif	
 	nsamples = 0;
 }