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d/vive: Apply all axis flip after scale and bias

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Jakob Bornecrantz 2019-12-22 20:38:02 +00:00 committed by Jakob Bornecrantz
parent 995ecfaac2
commit 8306e00bd1
1 changed files with 18 additions and 13 deletions
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31
src/xrt/drivers/vive/vive_device.c
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@ -294,9 +294,9 @@ update_imu(struct vive_device *d, struct vive_imu_report *report)
scale = (float)d->imu.acc_range / 32768.0f;
struct xrt_vec3 acceleration = {
-scale * d->imu.acc_scale.x * acc[0] - d->imu.acc_bias.x,
-scale * d->imu.acc_scale.y * acc[1] - d->imu.acc_bias.y,
-scale * d->imu.acc_scale.z * acc[2] - d->imu.acc_bias.z,
scale * d->imu.acc_scale.x * acc[0] - d->imu.acc_bias.x,
scale * d->imu.acc_scale.y * acc[1] - d->imu.acc_bias.y,
scale * d->imu.acc_scale.z * acc[2] - d->imu.acc_bias.z,
};
int16_t gyro[3] = {
@ -307,9 +307,9 @@ update_imu(struct vive_device *d, struct vive_imu_report *report)
scale = (float)d->imu.gyro_range / 32768.0f;
struct xrt_vec3 angular_velocity = {
-scale * d->imu.gyro_scale.x * gyro[0] - d->imu.gyro_bias.x,
-scale * d->imu.gyro_scale.y * gyro[1] - d->imu.gyro_bias.y,
-scale * d->imu.gyro_scale.z * gyro[2] - d->imu.gyro_bias.z,
scale * d->imu.gyro_scale.x * gyro[0] - d->imu.gyro_bias.x,
scale * d->imu.gyro_scale.y * gyro[1] - d->imu.gyro_bias.y,
scale * d->imu.gyro_scale.z * gyro[2] - d->imu.gyro_bias.z,
};
VIVE_SPEW(d, "ACC %f %f %f", acceleration.x, acceleration.y,
@ -320,18 +320,23 @@ update_imu(struct vive_device *d, struct vive_imu_report *report)
switch (d->variant) {
case VIVE_VARIANT_VIVE:
// flip x axis
angular_velocity.x = -angular_velocity.x;
// flip all execpt x axis
angular_velocity.x = +angular_velocity.x;
angular_velocity.y = -angular_velocity.y;
angular_velocity.z = -angular_velocity.z;
break;
case VIVE_VARIANT_PRO:
// flip y axis
angular_velocity.y = -angular_velocity.y;
// flip all execpt y axis
angular_velocity.x = -angular_velocity.x;
angular_velocity.y = +angular_velocity.y;
angular_velocity.z = -angular_velocity.z;
break;
case VIVE_VARIANT_INDEX: {
// Flip all axis and re-order.
struct xrt_vec3 angular_velocity_fixed;
angular_velocity_fixed.x = angular_velocity.y;
angular_velocity_fixed.y = angular_velocity.x;
angular_velocity_fixed.z = angular_velocity.z;
angular_velocity_fixed.x = -angular_velocity.y;
angular_velocity_fixed.y = -angular_velocity.x;
angular_velocity_fixed.z = -angular_velocity.z;
angular_velocity = angular_velocity_fixed;
} break;
default: VIVE_ERROR("Unhandled Vive variant\n"); return;