Clarified comments around vector rotate method.
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@ -158,12 +158,11 @@ void normalizeV(struct fp_vector *src, struct fp_vector *dest)
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}
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}
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// Rotate Estimated vector(s) with small angle approximation, according to the gyro data
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// Rotate a vector *v by the euler angles defined by the 3-vector *delta.
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void rotateV(struct fp_vector *v, fp_angles_t *delta)
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{
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struct fp_vector v_tmp = *v;
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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 cosx, sinx, cosy, siny, cosz, sinz;
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float coszcosx, sinzcosx, coszsinx, sinzsinx;
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