Use proper type for euler angles

Signed-off-by: TheJackiMonster <thejackimonster@gmail.com>

examples/debug_d3/src/debug.c

@@ -30,7 +30,7 @@ void test3(uint64_t timestamp,
 		   device3_event_type event,
 		   const device3_ahrs_type* ahrs) {
 	device3_quat_type orientation;
-	device3_vec3_type euler;
+	device3_euler_type euler;
 	
 	switch (event) {
 		case DEVICE3_EVENT_INIT:
@@ -39,7 +39,7 @@ void test3(uint64_t timestamp,
 		case DEVICE3_EVENT_UPDATE:
 			orientation = device3_get_orientation(ahrs);
 			euler = device3_get_euler(orientation);
-			printf("Pitch: %.2f; Roll: %.2f; Yaw: %.2f\n", euler.x, euler.y, euler.z);
+			printf("Roll: %.2f; Pitch: %.2f; Yaw: %.2f\n", euler.roll, euler.pitch, euler.yaw);
 			break;
 		default:
 			break;

interface_lib/include/device3.h

@@ -110,6 +110,12 @@ struct device3_quat_t {
 	float w;
 };
 
+struct device3_euler_t {
+	float roll;
+	float pitch;
+	float yaw;
+};
+
 typedef enum device3_error_t device3_error_type;
 typedef struct device3_packet_t device3_packet_type;
 typedef enum device3_event_t device3_event_type;
@@ -119,6 +125,7 @@ typedef struct device3_calibration_t device3_calibration_type;
 
 typedef struct device3_vec3_t device3_vec3_type;
 typedef struct device3_quat_t device3_quat_type;
+typedef struct device3_euler_t device3_euler_type;
 
 typedef void (*device3_event_callback)(
 		uint64_t timestamp,
@@ -166,7 +173,7 @@ device3_vec3_type device3_get_linear_acceleration(const device3_ahrs_type* ahrs)
 
 device3_quat_type device3_get_orientation(const device3_ahrs_type* ahrs);
 
-device3_vec3_type device3_get_euler(device3_quat_type quat);
+device3_euler_type device3_get_euler(device3_quat_type quat);
 
 device3_error_type device3_close(device3_type* device);
 

interface_lib/src/device3.c

@@ -912,17 +912,17 @@ device3_quat_type device3_get_orientation(const device3_ahrs_type* ahrs) {
 	return q;
 }
 
-device3_vec3_type device3_get_euler(device3_quat_type quat) {
+device3_euler_type device3_get_euler(device3_quat_type quat) {
 	FusionQuaternion quaternion;
 	quaternion.element.x = quat.x;
 	quaternion.element.y = quat.y;
 	quaternion.element.z = quat.z;
 	quaternion.element.w = quat.w;
 	FusionEuler euler = FusionQuaternionToEuler(quaternion);
-	device3_vec3_type e;
+	device3_euler_type e;
-	e.x = euler.angle.pitch;
+	e.roll = euler.angle.roll;
-	e.y = euler.angle.roll;
+	e.pitch = euler.angle.pitch;
-	e.z = euler.angle.yaw;
+	e.yaw = euler.angle.yaw;
 	return e;
 }
 

src/driver.c

@@ -56,19 +56,19 @@ void test3(uint64_t timestamp,
 		dmax = (d > dmax? d : dmax);
 	}
 	
-	device3_vec3_type e = device3_get_euler(q);
+	device3_euler_type e = device3_get_euler(q);
 	
 	if (d >= 0.00005f) {
-		device3_vec3_type e0 = device3_get_euler(old);
+		device3_euler_type e0 = device3_get_euler(old);
 		
-		printf("Pitch: %f; Roll: %f; Yaw: %f\n", e0.x, e0.y, e0.z);
+		printf("Roll: %f; Pitch: %f; Yaw: %f\n", e0.roll, e0.pitch, e0.yaw);
-		printf("Pitch: %f; Roll: %f; Yaw: %f\n", e.x, e.y, e.z);
+		printf("Roll: %f; Pitch: %f; Yaw: %f\n", e.roll, e.pitch, e.yaw);
 		printf("D = %f; ( %f )\n", d, dmax);
 		
 		printf("X: %f; Y: %f; Z: %f; W: %f;\n", old.x, old.y, old.z, old.w);
 		printf("X: %f; Y: %f; Z: %f; W: %f;\n", q.x, q.y, q.z, q.w);
 	} else {
-		printf("Pitch: %.2f; Roll: %.2f; Yaw: %.2f\n", e.x, e.y, e.z);
+		printf("Roll: %.2f; Pitch: %.2f; Yaw: %.2f\n", e.roll, e.pitch, e.yaw);
 	}
 	
 	old = q;