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d/dd: Give correct delta into math_quat_integrate_velocity

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Jakob Bornecrantz 2020-03-13 21:56:33 +00:00 committed by Jakob Bornecrantz
parent 99eda56d39
commit 2a68f3c9d3
1 changed files with 10 additions and 21 deletions
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31
src/xrt/drivers/daydream/daydream_device.c
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@ -125,22 +125,11 @@ update_fusion(struct daydream_device *daydream,
daydream->read.accel.z, daydream->read.gyro.x,
daydream->read.gyro.y, daydream->read.gyro.z);
math_quat_integrate_velocity(&daydream->fusion.rot,
&daydream->read.gyro, delta_ns,
&daydream->fusion.rot);
/*
imu_fusion_incorporate_gyros_and_accelerometer(
daydream->fusion.fusion, timestamp_ns, &daydream->read.gyro,
&daydream->fusion.variance.gyro, &daydream->read.accel,
&daydream->fusion.variance.accel, NULL);
struct xrt_vec3 angvel_dummy;
imu_fusion_get_prediction(daydream->fusion.fusion, timestamp_ns,
&daydream->fusion.rot, &angvel_dummy);
imu_fusion_get_prediction_rotation_vec(
daydream->fusion.fusion, timestamp_ns,
&daydream->fusion.rotvec);
*/
double delta_s = (double)delta_ns / (1000.0 * 1000.0 * 1000.0);
math_quat_integrate_velocity(&daydream->fusion.rot,
&daydream->read.gyro, delta_s,
&daydream->fusion.rot);
}
static int
@ -400,17 +389,17 @@ daydream_device_create(struct os_ble_device *ble,
dd->fusion.variance.gyro.y = 1.0f;
dd->fusion.variance.gyro.z = 1.0f;
dd->calibration.accel.factor.x = 120000000000.0;
dd->calibration.accel.factor.y = 120000000000.0;
dd->calibration.accel.factor.z = 120000000000.0;
dd->calibration.accel.factor.x = 120.0;
dd->calibration.accel.factor.y = 120.0;
dd->calibration.accel.factor.z = 120.0;
dd->calibration.accel.bias.x = 0.0;
dd->calibration.accel.bias.y = 0.0;
dd->calibration.accel.bias.z = 0.0;
dd->calibration.gyro.factor.x = 120000000000.0;
dd->calibration.gyro.factor.y = 120000000000.0;
dd->calibration.gyro.factor.z = 120000000000.0;
dd->calibration.gyro.factor.x = 120.0;
dd->calibration.gyro.factor.y = 120.0;
dd->calibration.gyro.factor.z = 120.0;
dd->calibration.gyro.bias.x = 0.0;
dd->calibration.gyro.bias.y = 0.0;