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d/psmv: Also set gyro data

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This commit is contained in:
Jakob Bornecrantz 2019-09-11 18:09:39 +01:00
parent c5e5c98c9c
commit d2acc9d6e4
1 changed files with 19 additions and 0 deletions
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19
src/xrt/drivers/psmv/psmv_driver.c
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@ -12,6 +12,7 @@
#include <string.h>
#include <stdlib.h>
#include <wchar.h>
#include <math.h>
#include "xrt/xrt_prober.h"
@ -468,6 +469,24 @@ psmv_read_process_last(struct psmv_device *psmv)
psmv->read.accel.x = (raw->x + bx) / ax;
psmv->read.accel.y = (raw->y + by) / ay;
psmv->read.accel.z = (raw->z + bz) / az;
raw = &psmv->last.frame[1].gyro;
double gx =
(psmv->gyro_rot_x.x - (psmv->gyro_bias_0.x * psmv->gyro_fact.x));
double gy =
(psmv->gyro_rot_y.y - (psmv->gyro_bias_0.y * psmv->gyro_fact.y));
double gz =
(psmv->gyro_rot_z.z - (psmv->gyro_bias_0.z * psmv->gyro_fact.z));
gx = (2.0 * M_PI * 80.0) / (60.0 * gx);
gy = (2.0 * M_PI * 80.0) / (60.0 * gy);
gz = (2.0 * M_PI * 80.0) / (60.0 * gz);
psmv->read.gyro.x = raw->x * gx;
psmv->read.gyro.y = raw->y * gy;
psmv->read.gyro.z = raw->z * gz;
}
static int