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d/wmr: Fix unused corrected IMU timestamp

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Mateo de Mayo 2023-01-02 16:21:08 -03:00
parent aa6b8cd88d
commit 6bd921b390
1 changed files with 2 additions and 1 deletions
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src/xrt/drivers/wmr/wmr_source.c
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@ -120,8 +120,9 @@ receive_imu_sample(struct xrt_imu_sink *sink, struct xrt_imu_sample *s)
const double IMU_FREQ = 250; //!< @todo use 1000 if "average_imus" is false
timepoint_ns now_hw = s->timestamp_ns;
timepoint_ns now_mono = (timepoint_ns)os_monotonic_get_ns();
timepoint_ns ts = m_clock_offset_a2b(IMU_FREQ, now_hw, now_mono, &ws->hw2mono);
s->timestamp_ns = m_clock_offset_a2b(IMU_FREQ, now_hw, now_mono, &ws->hw2mono);
timepoint_ns ts = s->timestamp_ns;
struct xrt_vec3_f64 a = s->accel_m_s2;
struct xrt_vec3_f64 w = s->gyro_rad_secs;
WMR_TRACE(ws, "imu t=%ld a=(%f %f %f) w=(%f %f %f)", ts, a.x, a.y, a.z, w.x, w.y, w.z);