.github/workflows/githubci.yml

@@ -7,11 +7,11 @@ jobs:
     runs-on: ubuntu-latest
     
     steps:
-    - uses: actions/setup-python@v4
+    - uses: actions/setup-python@v1
       with:
         python-version: '3.x'
-    - uses: actions/checkout@v3
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v2
+    - uses: actions/checkout@v2
       with:
          repository: adafruit/ci-arduino
          path: ci

examples/calibrated_orientation/LSM6DS_LIS3MDL.h

@@ -2,12 +2,8 @@
 Adafruit_LIS3MDL lis3mdl;
 
 // Can change this to be LSM6DSOX or whatever ya like
-// For (older) Feather Sense with LSM6DS33, use this:
 #include <Adafruit_LSM6DS33.h>
 Adafruit_LSM6DS33 lsm6ds;
-// For (newer) Feather Sense with LSM6DS3TR-C, use this:
-// #include <Adafruit_LSM6DS3TRC.h>
-// Adafruit_LSM6DS3TRC lsm6ds;
 
 bool init_sensors(void) {
   if (!lsm6ds.begin_I2C() || !lis3mdl.begin_I2C()) {

examples/calibrated_orientation/LSM9DS.h

@@ -2,7 +2,7 @@
 Adafruit_LSM9DS1 lsm9ds = Adafruit_LSM9DS1();
 
 // Or if you have the older LSM9DS0
-// #include <Adafruit_LSM9DS0.h>
+//#include <Adafruit_LSM9DS0.h>
 // Adafruit_LSM9DS0 lsm9ds = Adafruit_LSM9DS0();
 
 bool init_sensors(void) {

examples/calibrated_orientation/calibrated_orientation.ino

@@ -13,7 +13,7 @@
 Adafruit_Sensor *accelerometer, *gyroscope, *magnetometer;
 
 // uncomment one combo 9-DoF!
-#include "LSM6DS_LIS3MDL.h"  // see the the LSM6DS_LIS3MDL file in this project to change board to LSM6DS33, LSM6DS3U, LSM6DSOX, etc
+#include "LSM6DS_LIS3MDL.h"  // can adjust to LSM6DS33, LSM6DS3U, LSM6DSOX...
 //#include "LSM9DS.h"           // LSM9DS1 or LSM9DS0
 //#include "NXP_FXOS_FXAS.h"  // NXP 9-DoF breakout
 

examples/calibration/LSM6DS_LIS3MDL.h

@@ -2,12 +2,8 @@
 Adafruit_LIS3MDL lis3mdl;
 
 // Can change this to be LSM6DS33 or whatever ya like
-// For (older) Feather Sense with LSM6DS33, use this:
 #include <Adafruit_LSM6DS33.h>
 Adafruit_LSM6DS33 lsm6ds;
-// For (newer) Feather Sense with LSM6DS3TR-C, use this:
-// #include <Adafruit_LSM6DS3TRC.h>
-// Adafruit_LSM6DS3TRC lsm6ds;
 
 bool init_sensors(void) {
   if (!lsm6ds.begin_I2C() || !lis3mdl.begin_I2C()) {

examples/calibration/LSM9DS.h

@@ -1,5 +1,5 @@
-// #include <Adafruit_LSM9DS1.h>
-//  Adafruit_LSM9DS1 lsm9ds = Adafruit_LSM9DS1();
+//#include <Adafruit_LSM9DS1.h>
+// Adafruit_LSM9DS1 lsm9ds = Adafruit_LSM9DS1();
 
 // Or if you have the older LSM9DS0
 #include <Adafruit_LSM9DS0.h>

library.properties

@@ -1,5 +1,5 @@
 name=Adafruit AHRS
-version=2.4.0
+version=2.3.2
 author=Adafruit
 maintainer=Adafruit <info@adafruit.com>
 sentence=AHRS (Altitude and Heading Reference System) for various Adafruit motion sensors

src/Adafruit_AHRS_Madgwick.cpp

@@ -282,14 +282,13 @@ void Adafruit_Madgwick::updateIMU(float gx, float gy, float gz, float ax,
 
 float Adafruit_Madgwick::invSqrt(float x) {
   float halfx = 0.5f * x;
-  union {
-    float f;
-    long i;
-  } conv = {x};
-  conv.i = 0x5f3759df - (conv.i >> 1);
-  conv.f *= 1.5f - (halfx * conv.f * conv.f);
-  conv.f *= 1.5f - (halfx * conv.f * conv.f);
-  return conv.f;
+  float y = x;
+  long i = *(long *)&y;
+  i = 0x5f3759df - (i >> 1);
+  y = *(float *)&i;
+  y = y * (1.5f - (halfx * y * y));
+  y = y * (1.5f - (halfx * y * y));
+  return y;
 }
 
 //-------------------------------------------------------------------------------------------
@@ -300,6 +299,6 @@ void Adafruit_Madgwick::computeAngles() {
   yaw = atan2f(q1 * q2 + q0 * q3, 0.5f - q2 * q2 - q3 * q3);
   grav[0] = 2.0f * (q1 * q3 - q0 * q2);
   grav[1] = 2.0f * (q0 * q1 + q2 * q3);
-  grav[2] = 2.0f * (q0 * q0 - 0.5f + q3 * q3);
+  grav[2] = 2.0f * (q1 * q0 - 0.5f + q3 * q3);
   anglesComputed = 1;
 }

src/Adafruit_AHRS_Mahony.cpp

@@ -261,14 +261,13 @@ void Adafruit_Mahony::updateIMU(float gx, float gy, float gz, float ax,
 
 float Adafruit_Mahony::invSqrt(float x) {
   float halfx = 0.5f * x;
-  union {
-    float f;
-    long i;
-  } conv = {x};
-  conv.i = 0x5f3759df - (conv.i >> 1);
-  conv.f *= 1.5f - (halfx * conv.f * conv.f);
-  conv.f *= 1.5f - (halfx * conv.f * conv.f);
-  return conv.f;
+  float y = x;
+  long i = *(long *)&y;
+  i = 0x5f3759df - (i >> 1);
+  y = *(float *)&i;
+  y = y * (1.5f - (halfx * y * y));
+  y = y * (1.5f - (halfx * y * y));
+  return y;
 }
 
 //-------------------------------------------------------------------------------------------
@@ -279,7 +278,7 @@ void Adafruit_Mahony::computeAngles() {
   yaw = atan2f(q1 * q2 + q0 * q3, 0.5f - q2 * q2 - q3 * q3);
   grav[0] = 2.0f * (q1 * q3 - q0 * q2);
   grav[1] = 2.0f * (q0 * q1 + q2 * q3);
-  grav[2] = 2.0f * (q0 * q0 - 0.5f + q3 * q3);
+  grav[2] = 2.0f * (q1 * q0 - 0.5f + q3 * q3);
   anglesComputed = 1;
 }
 

src/Adafruit_AHRS_NXPFusion.cpp

@@ -633,7 +633,7 @@ void Adafruit_NXPSensorFusion::update(float gx, float gy, float gz, float ax,
       mGl[X] = DEFAULTB * fcosdelta; // TODO: MagCal->B
       mGl[Z] = DEFAULTB * fsindelta;
     } // end hyp == 0.0F
-  } // end ValidMagCal
+  }   // end ValidMagCal
 
   // *********************************************************************************
   // compute the a posteriori Euler angles from the orientation matrix

src/Adafruit_AHRS_NXPmatrix.c

@@ -296,9 +296,9 @@ void eigencompute(float A[][10], float eigval[], float eigvec[][10], int8_t n) {
               A[ic][j] = A[ic][j] + sinphi * (ftmp - tanhalfphi * A[ic][j]);
             }
           } // end of test for matrix element already zero
-        } // end of loop over columns
-      } // end of loop over rows
-    } // end of test for non-zero residue
+        }   // end of loop over columns
+      }     // end of loop over rows
+    }       // end of test for non-zero residue
   } while ((residue > 0.0F) && (ctr++ < NITERATIONS)); // end of main loop
 }