Cristiano Barbosa / microbit-dal2

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Dependencies:   BLE_API mbed-dev-bin nRF51822

Fork of microbit-dal by Lancaster University

Diff: source/drivers/MicroBitAccelerometer.cpp

Revision:
43:0374ea4d2167
Parent:
42:e2869e0fa366
Child:
55:6920de8ba10a
--- a/source/drivers/MicroBitAccelerometer.cpp	Wed Jul 13 12:18:22 2016 +0100
+++ b/source/drivers/MicroBitAccelerometer.cpp	Wed Jul 13 12:18:23 2016 +0100
@@ -666,13 +666,13 @@
   */
 void MicroBitAccelerometer::recalculatePitchRoll()
 {
-    float x = (float) getX(NORTH_EAST_DOWN);
-    float y = (float) getY(NORTH_EAST_DOWN);
-    float z = (float) getZ(NORTH_EAST_DOWN);
+    double x = (double) getX(NORTH_EAST_DOWN);
+    double y = (double) getY(NORTH_EAST_DOWN);
+    double z = (double) getZ(NORTH_EAST_DOWN);
 
-    roll = atan2((double)getY(NORTH_EAST_DOWN), (double)getZ(NORTH_EAST_DOWN));
+    roll = atan2(y, z);
+    pitch = atan(-x / (y*sin(roll) + z*cos(roll)));
 
-    pitch = atan(-x / (y*sin(roll) + z*cos(roll)));
     status |= MICROBIT_ACCEL_PITCH_ROLL_VALID;
 }