Gyroscope input using degrees/sec (not radians)

Author: PaulStoffregen

src/MadgwickAHRS.cpp

@@ -58,6 +58,11 @@ void Madgwick::update(float gx, float gy, float gz, float ax, float ay, float az
 		return;
 	}
 
+	// Convert gyroscope degrees/sec to radians/sec
+	gx *= 0.0174533f;
+	gy *= 0.0174533f;
+	gz *= 0.0174533f;
+
 	// Rate of change of quaternion from gyroscope
 	qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz);
 	qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy);
@@ -151,6 +156,11 @@ void Madgwick::updateIMU(float gx, float gy, float gz, float ax, float ay, float
 	float qDot1, qDot2, qDot3, qDot4;
 	float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2 ,_8q1, _8q2, q0q0, q1q1, q2q2, q3q3;
 
+	// Convert gyroscope degrees/sec to radians/sec
+	gx *= 0.0174533f;
+	gy *= 0.0174533f;
+	gz *= 0.0174533f;
+
 	// Rate of change of quaternion from gyroscope
 	qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz);
 	qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy);