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d/wmr: Fix accel <-> gyro mixup in previous change.

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There was a typo in the calibration bias/correction
patch that messed up accel values by accidentally
reusing the gyro value.
This commit is contained in:
Jan Schmidt 2021-12-06 01:45:25 +11:00
parent c06c3fa782
commit 6cc92c369a
1 changed files with 1 additions and 1 deletions
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2
src/xrt/drivers/wmr/wmr_hmd.c
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@ -270,7 +270,7 @@ hololens_sensors_read_packets(struct wmr_hmd *wh)
math_vec3_accum(&wh->config.sensors.gyro.bias_offsets, &sample);
math_quat_rotate_vec3(&wh->gyro_to_centerline.orientation, &sample, &raw_gyro[i]);
vec3_from_hololens_accel(wh->packet.accel, i, &sample);
vec3_from_hololens_accel(wh->packet.accel, i, &raw_sample);
math_matrix_3x3_transform_vec3(&wh->config.sensors.accel.mix_matrix, &raw_sample, &sample);
math_vec3_accum(&wh->config.sensors.accel.bias_offsets, &sample);
math_quat_rotate_vec3(&wh->accel_to_centerline.orientation, &sample, &raw_accel[i]);