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d/wmr: fix Original/Odyssey controller orientation

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Similar to the HP Reverb G2 controllers apply the rotations
provided by their calibration data.

Signed-off-by: Linus Lüssing <linus.luessing@c0d3.blue>
This commit is contained in:
Linus Lüssing 2023-06-13 16:45:35 +02:00 committed by Jakob Bornecrantz
parent 57fb867514
commit c5fa0e02e8
1 changed files with 6 additions and 0 deletions
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6
src/xrt/drivers/wmr/wmr_controller_og.c
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@ -8,6 +8,8 @@
* @author Jan Schmidt <jan@centricular.com> * @author Jan Schmidt <jan@centricular.com>
* @ingroup drv_wmr * @ingroup drv_wmr
*/ */
#include "math/m_api.h"
#include "util/u_device.h" #include "util/u_device.h"
#include "util/u_trace_marker.h" #include "util/u_trace_marker.h"
#include "util/u_var.h" #include "util/u_var.h"
@ -224,6 +226,8 @@ wmr_controller_og_packet_parse(struct wmr_controller_og *ctrl, const unsigned ch
acc[1] = read24(&p); // y acc[1] = read24(&p); // y
acc[2] = read24(&p); // z acc[2] = read24(&p); // z
vec3_from_wmr_controller_accel(acc, &last_input->imu.acc); vec3_from_wmr_controller_accel(acc, &last_input->imu.acc);
math_quat_rotate_vec3(&wcb->config.sensors.transforms.P_oxr_acc.orientation, &last_input->imu.acc,
&last_input->imu.acc);
U_LOG_IFL_T(wcb->log_level, "Accel [m/s^2] : %f", U_LOG_IFL_T(wcb->log_level, "Accel [m/s^2] : %f",
sqrtf(last_input->imu.acc.x * last_input->imu.acc.x + sqrtf(last_input->imu.acc.x * last_input->imu.acc.x +
@ -238,6 +242,8 @@ wmr_controller_og_packet_parse(struct wmr_controller_og *ctrl, const unsigned ch
gyro[1] = read24(&p); gyro[1] = read24(&p);
gyro[2] = read24(&p); gyro[2] = read24(&p);
vec3_from_wmr_controller_gyro(gyro, &last_input->imu.gyro); vec3_from_wmr_controller_gyro(gyro, &last_input->imu.gyro);
math_quat_rotate_vec3(&wcb->config.sensors.transforms.P_oxr_gyr.orientation, &last_input->imu.gyro,
&last_input->imu.gyro);
uint32_t prev_ticks = last_input->imu.timestamp_ticks & UINT32_C(0xFFFFFFFF); uint32_t prev_ticks = last_input->imu.timestamp_ticks & UINT32_C(0xFFFFFFFF);