diff options
| -rw-r--r-- | src/sensor.cpp | 3 | ||||
| -rw-r--r-- | src/sensor.hpp | 2 |
2 files changed, 1 insertions, 4 deletions
diff --git a/src/sensor.cpp b/src/sensor.cpp index 23edc17..9d4157e 100644 --- a/src/sensor.cpp +++ b/src/sensor.cpp @@ -66,7 +66,6 @@ void Sensor::reset() _accel_x = 0; _accel_y = 0; - _accel_z = 0; _pitch = 0; _roll = 0; @@ -135,8 +134,6 @@ bool Sensor::read() _accel_y = atan(-1.0 * _accel_raw_x / sqrt(accel_y_pow_two + accel_z_pow_two)) * RAD_TO_DEGREES; - _accel_z = - atan(_accel_raw_z / sqrt(accel_x_pow_two + accel_y_pow_two)) * RAD_TO_DEGREES; // Convert raw Gyro to degrees/s _gyro_raw_x *= _ang_rate_to_dps; diff --git a/src/sensor.hpp b/src/sensor.hpp index 07b8f95..72ff396 100644 --- a/src/sensor.hpp +++ b/src/sensor.hpp @@ -171,7 +171,7 @@ private: float _accel_to_g_force; float _accel_raw_x, _accel_raw_y, _accel_raw_z; - float _accel_x, _accel_y, _accel_z; + float _accel_x, _accel_y; uint8_t _gyro_sensitivity; float _ang_rate_to_dps; |