662     float quat[4];  in rvHandler()  local
667     r = inv_get_float_array(INV_QUATERNION, quat);  in rvHandler()
676     norm = quat[1] * quat[1] + quat[2] * quat[2] + quat[3] * quat[3]  in rvHandler()
683         quat[1] = quat[1] * inv_norm;  in rvHandler()
684         quat[2] = quat[2] * inv_norm;  in rvHandler()
685         quat[3] = quat[3] * inv_norm;  in rvHandler()
688     if (quat[0] < 0.0) {  in rvHandler()
689         quat[1] = -quat[1];  in rvHandler()
690         quat[2] = -quat[2];  in rvHandler()
691         quat[3] = -quat[3];  in rvHandler()
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()