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d/psmv: Use all 6 calibration measurements to compute accel bias.

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Ryan Pavlik 2020-03-24 17:43:17 -05:00 committed by Jakob Bornecrantz
parent 86b3d9f587
commit 98ad405d59
1 changed files with 18 additions and 18 deletions
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36
src/xrt/drivers/psmv/psmv_driver.c
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@ -1,8 +1,8 @@
// Copyright 2019, Collabora, Ltd.
// Copyright 2019-2020, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief PSVR prober code.
* @brief PlayStation Move motion controller prober and driver code.
* @author Jakob Bornecrantz <jakob@collabora.com>
* @author Ryan Pavlik <ryan.pavlik@collabora.com>
* @ingroup drv_psmv
@ -1305,17 +1305,17 @@ psmv_get_calibration_zcm1(struct psmv_device *psmv)
(zcm1->accel_max_z.z - zcm1->accel_min_z.z) / 2.0;
psmv->calibration.accel.bias.x =
(zcm1->accel_min_y.x + zcm1->accel_max_y.x + zcm1->accel_min_z.x +
zcm1->accel_max_z.x) /
4.0;
(zcm1->accel_min_x.x + zcm1->accel_max_x.x + zcm1->accel_min_y.x +
zcm1->accel_max_y.x + zcm1->accel_min_z.x + zcm1->accel_max_z.x) /
6.0;
psmv->calibration.accel.bias.y =
(zcm1->accel_min_x.y + zcm1->accel_max_x.y + zcm1->accel_min_z.y +
zcm1->accel_max_z.y) /
4.0;
(zcm1->accel_min_x.y + zcm1->accel_max_x.y + zcm1->accel_min_y.y +
zcm1->accel_max_y.y + zcm1->accel_min_z.y + zcm1->accel_max_z.y) /
6.0;
psmv->calibration.accel.bias.z =
(zcm1->accel_min_x.z + zcm1->accel_max_x.z + zcm1->accel_min_y.z +
zcm1->accel_max_y.z) /
4.0;
zcm1->accel_max_y.z + zcm1->accel_min_z.z + zcm1->accel_max_z.z) /
6.0;
/*
@ -1531,17 +1531,17 @@ psmv_get_calibration_zcm2(struct psmv_device *psmv)
(zcm2->accel_max_z.z - zcm2->accel_min_z.z) / 2.0;
psmv->calibration.accel.bias.x =
(zcm2->accel_min_y.x + zcm2->accel_max_y.x + zcm2->accel_min_z.x +
zcm2->accel_max_z.x) /
4.0;
(zcm2->accel_min_x.x + zcm2->accel_max_x.x + zcm2->accel_min_y.x +
zcm2->accel_max_y.x + zcm2->accel_min_z.x + zcm2->accel_max_z.x) /
6.0;
psmv->calibration.accel.bias.y =
(zcm2->accel_min_x.y + zcm2->accel_max_x.y + zcm2->accel_min_z.y +
zcm2->accel_max_z.y) /
4.0;
(zcm2->accel_min_x.y + zcm2->accel_max_x.y + zcm2->accel_min_y.y +
zcm2->accel_max_y.y + zcm2->accel_min_z.y + zcm2->accel_max_z.y) /
6.0;
psmv->calibration.accel.bias.z =
(zcm2->accel_min_x.z + zcm2->accel_max_x.z + zcm2->accel_min_y.z +
zcm2->accel_max_y.z) /
4.0;
zcm2->accel_max_y.z + zcm2->accel_min_z.z + zcm2->accel_max_z.z) /
6.0;
/*