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remove unnecessary variable

This commit is contained in:
Trey Marc 2014-06-12 03:42:49 +02:00
parent 2fef9d5fa9
commit 6eeb86fe68
1 changed files with 2 additions and 3 deletions
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5
src/imu.c
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@ -121,7 +121,7 @@ void rotateV(struct fp_vector *v, float *delta)
// This does a "proper" matrix rotation using gyro deltas without small-angle approximation
float mat[3][3];
float cosx, sinx, cosy, siny, cosz, sinz;
float coszcosx, coszcosy, sinzcosx, coszsinx, sinzsinx;
float coszcosx, sinzcosx, coszsinx, sinzsinx;
cosx = cosf(delta[ROLL]);
sinx = sinf(delta[ROLL]);
@ -131,12 +131,11 @@ void rotateV(struct fp_vector *v, float *delta)
sinz = sinf(delta[YAW]);
coszcosx = cosz * cosx;
coszcosy = cosz * cosy;
sinzcosx = sinz * cosx;
coszsinx = sinx * cosz;
sinzsinx = sinx * sinz;
mat[0][0] = coszcosy;
mat[0][0] = cosz * cosy;
mat[0][1] = -cosy * sinz;
mat[0][2] = siny;
mat[1][0] = sinzcosx + (coszsinx * siny);