diff options
| author | CNLohr <charles@cnlohr.com> | 2018-04-04 02:27:42 -0400 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2018-04-04 02:27:42 -0400 |
| commit | ce6322b6b604b12018a2daf427dbd36afc5fbda2 (patch) | |
| tree | 5929c2793c33c80e5392982a9baaa8d5ccaca724 /src/survive_default_devices.c | |
| parent | 6a45298c9bc34aac59cc2ebb9de2d82c7a42756e (diff) | |
| parent | c7d9d271796b20f886e2441de852498ecb25ca82 (diff) | |
| download | libsurvive-ce6322b6b604b12018a2daf427dbd36afc5fbda2.tar.gz libsurvive-ce6322b6b604b12018a2daf427dbd36afc5fbda2.tar.bz2 | |
Merge pull request #122 from cnlohr/imu
Imu
Diffstat (limited to 'src/survive_default_devices.c')
| -rw-r--r-- | src/survive_default_devices.c | 9 |
1 files changed, 4 insertions, 5 deletions
diff --git a/src/survive_default_devices.c b/src/survive_default_devices.c index 6b65752..2e47b9e 100644 --- a/src/survive_default_devices.c +++ b/src/survive_default_devices.c @@ -144,11 +144,10 @@ int survive_load_htc_config_format(SurviveObject *so, char *ct0conf, int len) { FLT *values = NULL; if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) { so->acc_bias = values; - so->acc_bias[0] *= .125; // XXX Wat? Observed by CNL. Biasing - // by more than this seems to hose - // things. - so->acc_bias[1] *= .125; - so->acc_bias[2] *= .125; + const FLT bias_units = 1. / 1000.; // I deeply suspect bias is in milligravities -JB + so->acc_bias[0] *= bias_units; + so->acc_bias[1] *= bias_units; + so->acc_bias[2] *= bias_units; } } if (jsoneq(ct0conf, tk, "acc_scale") == 0) { |