DS4Api.DS4Orientation.ApplyGyroAccel C# (CSharp) Метод

        public void ApplyGyroAccel(short[] Accel, short[] Gyro, ushort timestamp)
        {
            if (previous_timestamp != -1 && timestamp > previous_timestamp)
            {
                float diff = (float)(timestamp - previous_timestamp) * 0.00125f / 188f; // s since last report
                if (diff == 0) diff = 0.00125f;
                _Gyro_Raw = new Vector3(-Gyro[0], -Gyro[1], Gyro[2]) * diff / 20f;
                previous_timestamp = timestamp;
            }
            else
            {
                previous_timestamp = timestamp;
                return;
            }
            _Accel_Raw = new Vector3(-Accel[0], Accel[1], Accel[2]) * 9.8f / 8100f;

            if (accel_array.Count == max_accel_array_size)
                accel_array.RemoveAt(0);

            accel_array.Add(new Vector3(Accel[0], Accel[1], Accel[2]));

            float sd = StandardDeviation().magnitude;
            _Accel_Deviation = sd;

            if (sd <= max_still_sd)
                _Orientation = Quaternion.FromToRotation(Vector3.up, Accel_Raw);
            else
                _Orientation = Quaternion.Euler(Gyro_Raw) * _Orientation;
        }