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d/vive: Document conversion value

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This commit is contained in:
Jakob Bornecrantz 2024-01-06 13:49:04 +00:00
parent ea65f00198
commit 80d733c869
1 changed files with 5 additions and 2 deletions
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7
src/xrt/drivers/vive/vive_device.c
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@ -35,6 +35,9 @@
#include "vive_source.h" #include "vive_source.h"
#include "xrt/xrt_tracking.h" #include "xrt/xrt_tracking.h"
// Used to scale the IMU range from config.
#define VIVE_IMU_RANGE_CONVERSION_VALUE (32768.0)
static bool static bool
vive_mainboard_power_off(struct vive_device *d); vive_mainboard_power_off(struct vive_device *d);
@ -377,7 +380,7 @@ update_imu(struct vive_device *d, const void *buffer)
d->config.imu.acc_bias.z, d->config.imu.acc_bias.z,
}; };
scale = (double)d->config.imu.acc_range / 32768.0f; scale = (double)d->config.imu.acc_range / VIVE_IMU_RANGE_CONVERSION_VALUE;
struct xrt_vec3 acceleration = { struct xrt_vec3 acceleration = {
scale * acc_scale[0] * acc[0] - acc_bias[0], scale * acc_scale[0] * acc[0] - acc_bias[0],
scale * acc_scale[1] * acc[1] - acc_bias[1], scale * acc_scale[1] * acc[1] - acc_bias[1],
@ -413,7 +416,7 @@ update_imu(struct vive_device *d, const void *buffer)
d->config.imu.gyro_bias.z, d->config.imu.gyro_bias.z,
}; };
scale = (double)d->config.imu.gyro_range / 32768.0f; scale = (double)d->config.imu.gyro_range / VIVE_IMU_RANGE_CONVERSION_VALUE;
struct xrt_vec3 angular_velocity = { struct xrt_vec3 angular_velocity = {
scale * gyro_scale[0] * gyro[0] - gyro_bias[0], scale * gyro_scale[0] * gyro[0] - gyro_bias[0],
scale * gyro_scale[1] * gyro[1] - gyro_bias[1], scale * gyro_scale[1] * gyro[1] - gyro_bias[1],