mirrors/monado
1
0
Fork 0
mirror of https://gitlab.freedesktop.org/monado/monado.git synced 2024-12-28 18:46:18 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

d/psmv: Normalize acceleration to gravity

Browse source
This commit is contained in:
Jakob Bornecrantz 2019-09-16 16:36:16 +01:00
parent 1bcf537785
commit d3eb48ada4
1 changed files with 6 additions and 3 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

9
src/xrt/drivers/psmv/psmv_driver.c
View file

@ -602,11 +602,14 @@ update_fusion(struct psmv_device *psmv,
struct xrt_vec3_i32 *rg = &sample->gyro;
psmv->read.accel.x = (ra->x - psmv->calibration.accel.bias.x) /
psmv->calibration.accel.factor.x;
psmv->calibration.accel.factor.x *
MATH_GRAVITY_M_S2;
psmv->read.accel.y = (ra->y - psmv->calibration.accel.bias.y) /
psmv->calibration.accel.factor.y;
psmv->calibration.accel.factor.y *
MATH_GRAVITY_M_S2;
psmv->read.accel.z = (ra->z - psmv->calibration.accel.bias.z) /
psmv->calibration.accel.factor.z;
psmv->calibration.accel.factor.z *
MATH_GRAVITY_M_S2;
psmv->read.gyro.x = (rg->x - psmv->calibration.gyro.bias.x) /
psmv->calibration.gyro.factor.x;