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d/vive: Setup the variable tracking for imu fusion

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This commit is contained in:
Jakob Bornecrantz 2021-04-01 00:07:23 +01:00
parent cebc8ebed5
commit 9695e90d95
3 changed files with 4 additions and 12 deletions
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1
doc/changes/drivers/mr.740.md Normal file
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@ -0,0 +1 @@
vive: Setup the variable tracking for imu fusion.

7
src/xrt/drivers/vive/vive_device.c
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@ -389,8 +389,6 @@ update_imu(struct vive_device *d, const void *buffer)
}
d->imu.time_ns += dt_ns;
d->last.acc = acceleration;
d->last.gyro = angular_velocity;
d->imu.sequence = seq;
m_imu_3dof_update(&d->fusion, d->imu.time_ns, &acceleration, &angular_velocity);
@ -858,14 +856,13 @@ vive_device_create(struct os_hid_device *mainboard_dev,
m_imu_3dof_init(&d->fusion, M_IMU_3DOF_USE_GRAVITY_DUR_20MS);
u_var_add_root(d, "Vive Device", true);
u_var_add_gui_header(d, &d->gui.fusion, "3DoF Fusion");
m_imu_3dof_add_vars(&d->fusion, d, "");
u_var_add_gui_header(d, &d->gui.calibration, "Calibration");
u_var_add_vec3_f32(d, &d->config.imu.acc_scale, "acc_scale");
u_var_add_vec3_f32(d, &d->config.imu.acc_bias, "acc_bias");
u_var_add_vec3_f32(d, &d->config.imu.gyro_scale, "gyro_scale");
u_var_add_vec3_f32(d, &d->config.imu.gyro_bias, "gyro_bias");
u_var_add_gui_header(d, &d->gui.last, "Last data");
u_var_add_vec3_f32(d, &d->last.acc, "acc");
u_var_add_vec3_f32(d, &d->last.gyro, "gyro");
int ret;

8
src/xrt/drivers/vive/vive_device.h
View file

@ -51,12 +51,6 @@ struct vive_device
struct m_imu_3dof fusion;
struct
{
struct xrt_vec3 acc;
struct xrt_vec3 gyro;
} last;
struct
{
uint16_t ipd;
@ -73,7 +67,7 @@ struct vive_device
struct
{
bool calibration;
bool last;
bool fusion;
} gui;
struct vive_config config;