Yifei Teng / MPU9250

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Dependents:   FreeIMU

Fork of MPU6050 by Yifei Teng

Diff: MPU6050.cpp

Revision:
20:0172ae63dd9e
Parent:
19:09cc5b07e150
Child:
21:ae3ee2d811eb
--- a/MPU6050.cpp	Wed Mar 28 22:07:10 2018 +0000
+++ b/MPU6050.cpp	Wed Mar 28 22:17:20 2018 +0000
@@ -3851,7 +3851,6 @@
 
 void MPU6050::get9250Motion9Counts(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* hx, int16_t* hy, int16_t* hz)
 {
-    uint8_t buff[21];
     int16_t axx, ayy, azz, gxx, gyy, gzz;
 
     axx = ax_cache;
@@ -3863,22 +3862,14 @@
     *hx = hx_cache;
     *hy = hy_cache;
     *hz = hz_cache;
-    
-    *ax = axx;
-    *ay = ayy;
-    *az = azz;
-    
-    *gx = gxx;
-    *gy = gyy;
-    *gz = gzz;
 
-    /**ax = tX[0]*axx + tX[1]*ayy + tX[2]*azz; // transform axes
+    *ax = tX[0]*axx + tX[1]*ayy + tX[2]*azz; // transform axes
     *ay = tY[0]*axx + tY[1]*ayy + tY[2]*azz;
     *az = tZ[0]*axx + tZ[1]*ayy + tZ[2]*azz;
 
     *gx = tX[0]*gxx + tX[1]*gyy + tX[2]*gzz;
     *gy = tY[0]*gxx + tY[1]*gyy + tY[2]*gzz;
-    *gz = tZ[0]*gxx + tZ[1]*gyy + tZ[2]*gzz;*/
+    *gz = tZ[0]*gxx + tZ[1]*gyy + tZ[2]*gzz;
 }
 
 /* get accelerometer, gyro, and magnetometer data given pointers to store values */