Diff: SensorFusion.cpp

Revision:

31:d65576185bdf

Parent:

26:8f3e4e1a3acc

Child:

34:01dec68de3ed

--- a/SensorFusion.cpp	Thu Apr 23 12:13:28 2015 +0000
+++ b/SensorFusion.cpp	Tue Apr 28 09:08:03 2015 +0000
@@ -48,11 +48,12 @@
 }
 
 static float const deg_to_radian =  0.0174532925f;
-static float const radian_to_deg = 57.2957795131f;
 
 void SensorFusion::sensorUpdate(Vector3 gyro_degrees)
 {
+    
     Vector3 const gyro_reading = gyro_degrees * deg_to_radian;
+    
     Vector3 const accel_reading = accel.read();
     Vector3 const magneto_reading = magneto.read();
 
@@ -60,9 +61,7 @@
                    gyro_reading.x,    gyro_reading.y,    gyro_reading.z,
                    magneto_reading.x, magneto_reading.y, magneto_reading.z);
 
-    Vector3 const fused(q.getEulerAngles());
-
-    delegate->sensorTick(fused, accel_reading, magneto_reading, gyro_degrees, q);
+    delegate->sensorTick(q.getEulerAngles(), accel_reading, magneto_reading, gyro_degrees, q);
 }
 
 void SensorFusion::updateFilter(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)