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authorJustin Berger <j.david.berger@gmail.com>2018-04-03 23:30:47 -0600
committerJustin Berger <j.david.berger@gmail.com>2018-04-03 23:30:47 -0600
commitdb41a20170bb7f77959b9901a31582ad2ba93db7 (patch)
treea01f0d6b95b5446bf3760ec2d8e1812151b48ad6 /src/poser_sba.c
parent75460f240c9d003e4ca2e6dda9b2146a74df7ffa (diff)
downloadlibsurvive-db41a20170bb7f77959b9901a31582ad2ba93db7.tar.gz
libsurvive-db41a20170bb7f77959b9901a31582ad2ba93db7.tar.bz2
Madgwick code integrated
Diffstat (limited to 'src/poser_sba.c')
-rw-r--r--src/poser_sba.c18
1 files changed, 9 insertions, 9 deletions
diff --git a/src/poser_sba.c b/src/poser_sba.c
index 1dbc820..a23eb0f 100644
--- a/src/poser_sba.c
+++ b/src/poser_sba.c
@@ -272,12 +272,12 @@ static double run_sba_find_3d_structure(SBAData *d, PoserDataLight *pdl, Survive
info); // info
if (currentPositionValid) {
- FLT distp[3];
- sub3d(distp, so->OutPose.Pos, soLocation.Pos);
- FLT distance = magnitude3d(distp);
- ;
- if (distance > 1.)
- status = -1;
+ // FLT distp[3];
+ // sub3d(distp, so->OutPose.Pos, soLocation.Pos);
+ // FLT distance = magnitude3d(distp);
+
+ // if (distance > 1.)
+ // status = -1;
}
if (status > 0 && (info[1] / meas_size * 2) < d->max_error) {
d->failures_to_reset_cntr = d->failures_to_reset;
@@ -296,7 +296,7 @@ static double run_sba_find_3d_structure(SBAData *d, PoserDataLight *pdl, Survive
}
}
- return info[1] / meas_size * 2;
+ return status; // info[1] / meas_size * 2;
}
// Optimizes for LH position assuming object is posed at 0
@@ -396,12 +396,12 @@ int PoserSBA(SurviveObject *so, PoserData *pd) {
d->failures_to_reset = survive_configi(ctx, "sba-failures-to-reset", SC_GET, 1);
d->successes_to_reset_cntr = 0;
d->successes_to_reset = survive_configi(ctx, "sba-successes-to-reset", SC_GET, 100);
-
+ d->useIMU = true;
d->required_meas = survive_configi(ctx, "sba-required-meas", SC_GET, 8);
d->max_error = survive_configf(ctx, "sba-max-error", SC_GET, .0001);
d->sensor_time_window =
survive_configi(ctx, "sba-time-window", SC_GET, SurviveSensorActivations_default_tolerance * 2);
- d->sensor_variance_per_second = survive_configf(ctx, "sba-sensor-variance-per-sec", SC_GET, 0.001);
+ d->sensor_variance_per_second = survive_configf(ctx, "sba-sensor-variance-per-sec", SC_GET, 10.0);
d->sensor_variance = survive_configf(ctx, "sba-sensor-variance", SC_GET, 1.0);
d->so = so;