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| author | Justin Berger <j.david.berger@gmail.com> | 2018-03-22 12:06:41 -0600 |
|---|---|---|
| committer | Justin Berger <j.david.berger@gmail.com> | 2018-03-22 12:26:55 -0600 |
| commit | dcf5d7a482e022e762a656253017ebbc721d8a83 (patch) | |
| tree | beb85d67dc1a6d383186f94b674834f2f0667ba9 /src/survive_default_devices.c | |
| parent | f60bed509a7e416c155bcd35d5151bca65eaa190 (diff) | |
| download | libsurvive-dcf5d7a482e022e762a656253017ebbc721d8a83.tar.gz libsurvive-dcf5d7a482e022e762a656253017ebbc721d8a83.tar.bz2 | |
Progress on IMU tracking
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) { |