Is this meant to be proportional?

[proEndreeper]

nrc-combat-2020/Fin_NRC_BB_code/BB_IMU.cpp

Line 136 in a370b65

return ((data.vals[0] + data.vals[1] + data.vals[2] + 3 * data.vals[data.mid - 1]) / 3);

To me it looks like this line of code is giving a result that is 2 * degrees/second in terms of unit.

((data.vals[0] + data.vals[1] + data.vals[2] + 3 * data.vals[data.mid - 1]) / 3);

(deg/sec + deg/sec + deg/sec + 3*deg/sec)/3
(6*deg/sec)/3
2*deg/sec

For simpson's rule wouldn't you want it to be

((data.vals[0] + 4*data.vals[1] + data.vals[2]) / 6);

(deg/sec + 4*deg/sec + deg/sec)/6
(6*deg/sec)/6
deg/sec

Or if you are trying to keep the same proportions

((data.vals[0] + data.vals[1] + data.vals[2] + 3 * data.vals[data.mid - 1]) / 6);