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-rw-r--r--src/poser_charlesrefine.c6
1 files changed, 3 insertions, 3 deletions
diff --git a/src/poser_charlesrefine.c b/src/poser_charlesrefine.c
index b14d882..43558d6 100644
--- a/src/poser_charlesrefine.c
+++ b/src/poser_charlesrefine.c
@@ -55,9 +55,9 @@ int PoserCharlesRefine(SurviveObject *so, PoserData *pd) {
//TODO: Actually do Madgwick's algorithm
LinmathQuat applymotion;
const SurvivePose * object_pose = &so->OutPose;
- imuData->gyro[0] *= 1./1000.;
- imuData->gyro[1] *= 1./1000.;
- imuData->gyro[2] *= 1./1000.;
+ imuData->gyro[0] *= 1./so->imu_freq;
+ imuData->gyro[1] *= 1./so->imu_freq;
+ imuData->gyro[2] *= 1./so->imu_freq;
quatfromeuler( applymotion, imuData->gyro );
//printf( "%f %f %f\n", imuData->gyro [0], imuData->gyro [1], imuData->gyro [2] );