From 6cc92c369a60115bd96b53e0fae7e0f91979477e Mon Sep 17 00:00:00 2001 From: Jan Schmidt Date: Mon, 6 Dec 2021 01:45:25 +1100 Subject: [PATCH] d/wmr: Fix accel <-> gyro mixup in previous change. There was a typo in the calibration bias/correction patch that messed up accel values by accidentally reusing the gyro value. --- src/xrt/drivers/wmr/wmr_hmd.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/xrt/drivers/wmr/wmr_hmd.c b/src/xrt/drivers/wmr/wmr_hmd.c index 21233c2c3..a7541e4aa 100644 --- a/src/xrt/drivers/wmr/wmr_hmd.c +++ b/src/xrt/drivers/wmr/wmr_hmd.c @@ -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]);