From 81410a9b68abb65c3711bdf1524fa29c7a43ca64 Mon Sep 17 00:00:00 2001
From: Martin <martin.krauser@gmail.com>
Date: Fri, 4 Mar 2022 16:14:59 +0100
Subject: [PATCH] fixed bugs

---
 osc32bt/osc32bt.ino | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/osc32bt/osc32bt.ino b/osc32bt/osc32bt.ino
index 7968784..da1764d 100644
--- a/osc32bt/osc32bt.ino
+++ b/osc32bt/osc32bt.ino
@@ -58,7 +58,7 @@ uint8_t devStatus;      // return status after each device operation (0 = succes
 uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
 uint16_t fifoCount;     // count of all bytes currently in FIFO
 uint8_t fifoBuffer[64]; // FIFO storage buffer
-uint32_t time = 0;
+unsigned long timeOn = 0;
 
 // orientation/motion vars
 Quaternion q;           // [w, x, y, z]         quaternion container
@@ -85,6 +85,7 @@ OSCMessage gmsg("/gyro/");
 OSCMessage emsg("/error/");
 OSCMessage kmsg("/keys/");
 OSCMessage quaternionMessage("/quaternion/");
+OSCMessage quaternionDiffMessage("/quaternionDiff/");
 
 void setup() {
   Wire.begin();
@@ -250,12 +251,17 @@ void loop() {
 #endif
 
     // Send (accel) and time elapsed over serial
-    int prevTime = time;
-    time = millis();
+    int prevTime = timeOn;
+    timeOn = millis();
+    int elapsedTime = timeOn - prevTime;
+    
+    mpu.dmpGetGravity(&gravity, &q);
+    mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
+    AcX = aaReal.x;
     msg.add(AcX);
     msg.add(AcY);
     msg.add(AcZ);
-    msg.add(time - prevTime);
+    msg.add(elapsedTime);
 
     
     SLIPSerial.beginPacket();