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| author | cnlohr <lohr85@gmail.com> | 2018-06-24 13:41:51 -0400 |
|---|---|---|
| committer | cnlohr <lohr85@gmail.com> | 2018-06-24 13:41:51 -0400 |
| commit | 7d5b1db0edf0ec43f13293de1526206721c3494f (patch) | |
| tree | 2607ddb1e1389d6bbb471ecec6aa3fc45c74a22b /src/survive_default_devices.c | |
| parent | fe153d9def29387f4ad9712bd364bf8d9fdc5776 (diff) | |
| download | libsurvive-7d5b1db0edf0ec43f13293de1526206721c3494f.tar.gz libsurvive-7d5b1db0edf0ec43f13293de1526206721c3494f.tar.bz2 | |
Fix base calibration values.
Diffstat (limited to 'src/survive_default_devices.c')
| -rw-r--r-- | src/survive_default_devices.c | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/src/survive_default_devices.c b/src/survive_default_devices.c index ea38d55..2d63297 100644 --- a/src/survive_default_devices.c +++ b/src/survive_default_devices.c @@ -174,9 +174,11 @@ int survive_load_htc_config_format(SurviveObject *so, char *ct0conf, int len) { so->acc_scale[1] *= -1; so->acc_scale[0] *= -1; } - so->imu_freq = HMD_IMU_HZ; if (so->acc_bias) - scale3d(so->acc_bias, so->acc_bias, 2. / 1000.); // Odd but seems right. + scale3d(so->acc_bias, so->acc_bias, 1000.0 ); // Odd but seems right. + + so->imu_freq = HMD_IMU_HZ; + if (so->gyro_scale) { FLT deg_per_sec = 500; scale3d(so->gyro_scale, so->gyro_scale, deg_per_sec / (1 << 15) * LINMATHPI / 180.); @@ -188,7 +190,7 @@ int survive_load_htc_config_format(SurviveObject *so, char *ct0conf, int len) { if (so->acc_scale) scale3d(so->acc_scale, so->acc_scale, 2. / 8192.0); if (so->acc_bias) - scale3d(so->acc_bias, so->acc_bias, 2. / 1000.); // Need to verify. + scale3d(so->acc_bias, so->acc_bias, 1000.); // Need to verify. FLT deg_per_sec = 2000; if (so->gyro_scale) @@ -209,7 +211,7 @@ int survive_load_htc_config_format(SurviveObject *so, char *ct0conf, int len) { // If any other device, we know we at least need this. // I deeply suspect bias is in milligravities -JB if (so->acc_bias) - scale3d(so->acc_bias, so->acc_bias, 1. / 1000.); + scale3d(so->acc_bias, so->acc_bias, 1000.); // From datasheet, can be 250, 500, 1000, 2000 deg/s range over 16 bits FLT deg_per_sec = 2000; |