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d/psmv: Normalize acceleration to gravity

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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
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9
src/xrt/drivers/psmv/psmv_driver.c
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@ -602,11 +602,14 @@ update_fusion(struct psmv_device *psmv,
struct xrt_vec3_i32 *rg = &sample->gyro; struct xrt_vec3_i32 *rg = &sample->gyro;
psmv->read.accel.x = (ra->x - psmv->calibration.accel.bias.x) / 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->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->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->read.gyro.x = (rg->x - psmv->calibration.gyro.bias.x) /
psmv->calibration.gyro.factor.x; psmv->calibration.gyro.factor.x;