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d/wmr: Remove raw_accel and raw_gyro fields (NFC)

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This commit is contained in:
Jakob Bornecrantz 2021-04-23 18:25:39 +01:00
parent 1b4b180e61
commit 13d127035b
2 changed files with 8 additions and 8 deletions
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13
src/xrt/drivers/wmr/wmr_hmd.c
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@ -148,17 +148,20 @@ hololens_sensors_read_packets(struct wmr_hmd *wh)
hololens_sensors_decode_packet(wh, &wh->packet, buffer, size);
for (int i = 0; i < 4; i++) {
vec3_from_hololens_gyro(wh->packet.gyro, i, &wh->raw_gyro);
vec3_from_hololens_accel(wh->packet.accel, i, &wh->raw_accel);
struct xrt_vec3 raw_gyro;
struct xrt_vec3 raw_accel;
vec3_from_hololens_gyro(wh->packet.gyro, i, &raw_gyro);
vec3_from_hololens_accel(wh->packet.accel, i, &raw_accel);
os_mutex_lock(&wh->fusion.mutex);
wh->fusion.last_imu_timestamp_ns = now_ns;
wh->fusion.last_angular_velocity = wh->raw_gyro;
wh->fusion.last_angular_velocity = raw_gyro;
m_imu_3dof_update( //
&wh->fusion.i3dof, //
wh->packet.gyro_timestamp[i] * WMR_MS_HOLOLENS_NS_PER_TICK, //
&wh->raw_accel, //
&wh->raw_gyro); //
&raw_accel, //
&raw_gyro); //
os_mutex_unlock(&wh->fusion.mutex);
}
break;

3
src/xrt/drivers/wmr/wmr_hmd.h
View file

@ -69,9 +69,6 @@ struct wmr_hmd
struct hololens_sensors_packet packet;
struct xrt_vec3 raw_accel;
struct xrt_vec3 raw_gyro;
struct
{
//! Protects all members of the `fusion` substruct.