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Removed redundant masking when loading the IMU calibration
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@ -821,13 +821,13 @@ static SDL_bool LoadIMUCalibration(SDL_DriverSwitch_Context* ctx)
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/* IMU scale gives us multipliers for converting raw values to real world values */
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pIMUScale = reply->spiReadData.rgucReadData;
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sAccelRawX = ((pIMUScale[1] << 8) & 0xFF00) | pIMUScale[0];
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sAccelRawY = ((pIMUScale[3] << 8) & 0xFF00) | pIMUScale[2];
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sAccelRawZ = ((pIMUScale[5] << 8) & 0xFF00) | pIMUScale[4];
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sAccelRawX = (pIMUScale[1] << 8) | pIMUScale[0];
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sAccelRawY = (pIMUScale[3] << 8) | pIMUScale[2];
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sAccelRawZ = (pIMUScale[5] << 8) | pIMUScale[4];
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sGyroRawX = ((pIMUScale[13] << 8) & 0xFF00) | pIMUScale[12];
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sGyroRawY = ((pIMUScale[15] << 8) & 0xFF00) | pIMUScale[14];
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sGyroRawZ = ((pIMUScale[17] << 8) & 0xFF00) | pIMUScale[16];
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sGyroRawX = (pIMUScale[13] << 8) | pIMUScale[12];
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sGyroRawY = (pIMUScale[15] << 8) | pIMUScale[14];
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sGyroRawZ = (pIMUScale[17] << 8) | pIMUScale[16];
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/* Check for user calibration data. If it's present and set, it'll override the factory settings */
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readParams.unAddress = k_unSPIIMUUserScaleStartOffset;
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@ -835,13 +835,13 @@ static SDL_bool LoadIMUCalibration(SDL_DriverSwitch_Context* ctx)
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if (WriteSubcommand(ctx, k_eSwitchSubcommandIDs_SPIFlashRead, (uint8_t*)&readParams, sizeof(readParams), &reply) && (pIMUScale[0] | pIMUScale[1] << 8) == 0xA1B2) {
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pIMUScale = reply->spiReadData.rgucReadData;
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sAccelRawX = ((pIMUScale[3] << 8) & 0xFF00) | pIMUScale[2];
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sAccelRawY = ((pIMUScale[5] << 8) & 0xFF00) | pIMUScale[4];
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sAccelRawZ = ((pIMUScale[7] << 8) & 0xFF00) | pIMUScale[6];
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sAccelRawX = (pIMUScale[3] << 8) | pIMUScale[2];
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sAccelRawY = (pIMUScale[5] << 8) | pIMUScale[4];
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sAccelRawZ = (pIMUScale[7] << 8) | pIMUScale[6];
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sGyroRawX = ((pIMUScale[15] << 8) & 0xFF00) | pIMUScale[14];
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sGyroRawY = ((pIMUScale[17] << 8) & 0xFF00) | pIMUScale[16];
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sGyroRawZ = ((pIMUScale[19] << 8) & 0xFF00) | pIMUScale[18];
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sGyroRawX = (pIMUScale[15] << 8) | pIMUScale[14];
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sGyroRawY = (pIMUScale[17] << 8) | pIMUScale[16];
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sGyroRawZ = (pIMUScale[19] << 8) | pIMUScale[18];
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}
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/* Accelerometer scale */
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