Fix quaternion mapping. (#26) #35

	name: Rust

	on:
	push:
	branches: [ master ]
	pull_request:
	branches: [ master ]

	env:
	CARGO_TERM_COLOR: always

	jobs:
	lints-and-checks:
	name: Lints and checks
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: true
	- uses: dtolnay/rust-toolchain@nightly
	with:
	components: rustfmt, clippy, rust-docs

	- name: Rustfmt lints
	run: cargo fmt --all -- --check

	- name: Clippy lints
	run: cargo clippy --no-deps -- -D warnings

	- name: Build docs
	run: RUSTDOCFLAGS="--cfg docsrs" cargo +nightly doc --all-features --no-deps

	build:
	runs-on: ubuntu-latest
	strategy:
	matrix:
	rust:
	- stable
	- beta
	- nightly
	- "1.65" # MSRV

	steps:
	- name: Checkout Sources
	uses: actions/checkout@v4
	- name: Install Rust (thumbv7em)
	uses: dtolnay/rust-toolchain@master
	with:
	toolchain: ${{ matrix.rust }}
	target: thumbv7em-none-eabihf
	- name: Build - default features
	run: cargo build
	- name: Build - std
	run: cargo build --features "std"
	- name: Build - serde
	run: cargo build --features "serde"
	- name: Build - defmt-03
	run: cargo build --features "defmt-03"
	- name: Build - examples
	run: cargo build --examples
	- name: Run tests
	run: cargo test
	- name: Install cargo-fuzz
	# pre-build binaries
	uses: taiki-e/install-action@v2
	with:
	tool: cargo-fuzz
	- name: Fuzz (nightly only)
	if: ${{ matrix.rust == 'nightly' }}
	run: \|
	cargo +nightly fuzz run init -- -max_total_time=900
	cargo +nightly fuzz run calibrate -- -max_total_time=1800

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