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d/vive: Use define for standard gravity

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This commit is contained in:
Ryan Pavlik 2019-11-11 10:24:37 -06:00
parent 5eaced0e4d
commit e44dd1a755
1 changed files with 2 additions and 3 deletions
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5
src/xrt/drivers/vive/vive_device.c
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@ -26,8 +26,7 @@
#include "vive_device.h"
#include "vive_protocol.h"
#define VIVE_CLOCK_FREQ 48e6 // 48 MHz
#define XRT_GRAVITY_EARTH 9.80665 // m/s²
#define VIVE_CLOCK_FREQ 48e6 // 48 MHz
DEBUG_GET_ONCE_BOOL_OPTION(vive_spew, "VIVE_PRINT_SPEW", false)
DEBUG_GET_ONCE_BOOL_OPTION(vive_debug, "VIVE_PRINT_DEBUG", false)
@ -520,7 +519,7 @@ vive_sensors_get_imu_range_report(struct vive_device *d)
d->imu.gyro_range = M_PI / 180.0 * (250 << report.gyro_range);
VIVE_DEBUG(d, "Vive gyroscope range %f", d->imu.gyro_range);
d->imu.acc_range = XRT_GRAVITY_EARTH * (2 << report.accel_range);
d->imu.acc_range = MATH_GRAVITY_M_S2 * (2 << report.accel_range);
VIVE_DEBUG(d, "Vive accelerometer range %f", d->imu.acc_range);
return 0;