remove unnecessary variable
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@ -121,7 +121,7 @@ void rotateV(struct fp_vector *v, float *delta)
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// This does a "proper" matrix rotation using gyro deltas without small-angle approximation
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// This does a "proper" matrix rotation using gyro deltas without small-angle approximation
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float mat[3][3];
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float mat[3][3];
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float cosx, sinx, cosy, siny, cosz, sinz;
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float cosx, sinx, cosy, siny, cosz, sinz;
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float coszcosx, coszcosy, sinzcosx, coszsinx, sinzsinx;
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float coszcosx, sinzcosx, coszsinx, sinzsinx;
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cosx = cosf(delta[ROLL]);
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cosx = cosf(delta[ROLL]);
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sinx = sinf(delta[ROLL]);
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sinx = sinf(delta[ROLL]);
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@ -131,12 +131,11 @@ void rotateV(struct fp_vector *v, float *delta)
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sinz = sinf(delta[YAW]);
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sinz = sinf(delta[YAW]);
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coszcosx = cosz * cosx;
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coszcosx = cosz * cosx;
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coszcosy = cosz * cosy;
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sinzcosx = sinz * cosx;
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sinzcosx = sinz * cosx;
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coszsinx = sinx * cosz;
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coszsinx = sinx * cosz;
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sinzsinx = sinx * sinz;
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sinzsinx = sinx * sinz;
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mat[0][0] = coszcosy;
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mat[0][0] = cosz * cosy;
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mat[0][1] = -cosy * sinz;
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mat[0][1] = -cosy * sinz;
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mat[0][2] = siny;
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mat[0][2] = siny;
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mat[1][0] = sinzcosx + (coszsinx * siny);
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mat[1][0] = sinzcosx + (coszsinx * siny);
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