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d/psmv: Improve accelerometer adjustment

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This commit is contained in:
Jakob Bornecrantz 2019-09-06 19:13:25 +01:00
parent 2e5c8f43a0
commit 2a6e194b2d
1 changed files with 18 additions and 10 deletions
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28
src/xrt/drivers/psmv/psmv_driver.c
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@ -383,16 +383,24 @@ psmv_read_process_last(struct psmv_device *psmv)
{
struct xrt_vec3_i32 *raw = &psmv->last.frame[1].accel;
//! @todo This is clearly wrong.
psmv->read.accel.x =
(float)raw->x / (raw->x < 0 ? (float)psmv->accel_min_x.x
: -(float)psmv->accel_max_x.x);
psmv->read.accel.y =
(float)raw->y / (raw->y < 0 ? (float)psmv->accel_min_y.y
: -(float)psmv->accel_max_y.y);
psmv->read.accel.z =
(float)raw->z / (raw->z < 0 ? (float)psmv->accel_min_z.z
: -(float)psmv->accel_max_z.z);
//! @todo Pre-calculate this.
double ax = (psmv->accel_max_x.x - psmv->accel_min_x.x) / 2.0;
double ay = (psmv->accel_max_y.y - psmv->accel_min_y.y) / 2.0;
double az = (psmv->accel_max_z.z - psmv->accel_min_z.z) / 2.0;
double bx = (psmv->accel_min_y.x + psmv->accel_min_y.x +
psmv->accel_min_z.x + psmv->accel_min_z.x) /
-4.0;
double by = (psmv->accel_min_x.y + psmv->accel_min_x.y +
psmv->accel_min_z.y + psmv->accel_min_z.y) /
-4.0;
double bz = (psmv->accel_min_x.z + psmv->accel_min_x.z +
psmv->accel_min_y.z + psmv->accel_min_y.z) /
-4.0;
psmv->read.accel.x = (raw->x + bx) / ax;
psmv->read.accel.y = (raw->y + by) / ay;
psmv->read.accel.z = (raw->z + bz) / az;
}
static int