593 void MPLSensor::gyroHandler(sensors_event_t* s, uint32_t* pending_mask,  in gyroHandler()  argument
598     res = inv_get_float_array(INV_GYROS, s->gyro.v);  in gyroHandler()
599     s->gyro.v[0] = s->gyro.v[0] * M_PI / 180.0;  in gyroHandler()
600     s->gyro.v[1] = s->gyro.v[1] * M_PI / 180.0;  in gyroHandler()
601     s->gyro.v[2] = s->gyro.v[2] * M_PI / 180.0;  in gyroHandler()
606 void MPLSensor::accelHandler(sensors_event_t* s, uint32_t* pending_mask,  in accelHandler()  argument
611     res = inv_get_float_array(INV_ACCELS, s->acceleration.v);  in accelHandler()
613     s->acceleration.v[0] = s->acceleration.v[0] * 9.81;  in accelHandler()
614     s->acceleration.v[1] = s->acceleration.v[1] * 9.81;  in accelHandler()
615     s->acceleration.v[2] = s->acceleration.v[2] * 9.81;  in accelHandler()
635 void MPLSensor::compassHandler(sensors_event_t* s, uint32_t* pending_mask,  in compassHandler()  argument
644     res = inv_get_float_array(INV_MAGNETOMETER, s->magnetic.v);  in compassHandler()
652     s->magnetic.status = estimateCompassAccuracy();  in compassHandler()
658 void MPLSensor::rvHandler(sensors_event_t* s, uint32_t* pending_mask,  in rvHandler()  argument
694     s->gyro.v[0] = quat[1];  in rvHandler()
695     s->gyro.v[1] = quat[2];  in rvHandler()
696     s->gyro.v[2] = quat[3];  in rvHandler()
700 void MPLSensor::laHandler(sensors_event_t* s, uint32_t* pending_mask,  in laHandler()  argument
705     res = inv_get_float_array(INV_LINEAR_ACCELERATION, s->gyro.v);  in laHandler()
706     s->gyro.v[0] *= 9.81;  in laHandler()
707     s->gyro.v[1] *= 9.81;  in laHandler()
708     s->gyro.v[2] *= 9.81;  in laHandler()
713 void MPLSensor::gravHandler(sensors_event_t* s, uint32_t* pending_mask,  in gravHandler()  argument
718     res = inv_get_float_array(INV_GRAVITY, s->gyro.v);  in gravHandler()
719     s->gyro.v[0] *= 9.81;  in gravHandler()
720     s->gyro.v[1] *= 9.81;  in gravHandler()
721     s->gyro.v[2] *= 9.81;  in gravHandler()
769 void MPLSensor::orienHandler(sensors_event_t* s, uint32_t* pending_mask,  in orienHandler()  argument
781     calcOrientationSensor(rot_mat, s->orientation.v);  in orienHandler()
783     s->orientation.status = estimateCompassAccuracy();  in orienHandler()