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author | Justin Berger <j.david.berger@gmail.com> | 2018-04-21 19:23:44 -0600 |
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committer | Justin Berger <j.david.berger@gmail.com> | 2018-04-21 19:25:47 -0600 |
commit | 2c153ba846d05c2a13bc48154e2bcc5b3709e73b (patch) | |
tree | e2158b53a48066134fb1d976af63698df618f69c /src/survive_imu.c | |
parent | bc96509c719da116c5e0ebcdb39e082def15d306 (diff) | |
download | libsurvive-2c153ba846d05c2a13bc48154e2bcc5b3709e73b.tar.gz libsurvive-2c153ba846d05c2a13bc48154e2bcc5b3709e73b.tar.bz2 |
Additional tuning of gyro scaling parameters
Diffstat (limited to 'src/survive_imu.c')
-rw-r--r-- | src/survive_imu.c | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/survive_imu.c b/src/survive_imu.c index f866caf..494b246 100644 --- a/src/survive_imu.c +++ b/src/survive_imu.c @@ -15,7 +15,7 @@ static void mahony_ahrs(SurviveIMUTracker *tracker, LinmathVec3d _gyro, LinmathV LinmathVec3d accel; memcpy(accel, _accel, 3 * sizeof(FLT)); - const FLT sample_f = 240; + const FLT sample_f = tracker->so->imu_freq; const FLT prop_gain = .5; const FLT int_gain = 0; @@ -119,6 +119,7 @@ void survive_imu_tracker_integrate(SurviveObject *so, SurviveIMUTracker *tracker quatfrom2vectors(tracker->pose.Rot, tracker->updir, up); tracker->accel_scale_bias = 1. / magnitude3d(tracker->updir); tracker->is_initialized = true; + tracker->so = so; return; } |