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| author | Justin Berger <jdavidberger@gmail.com> | 2018-07-01 04:13:34 +0000 |
|---|---|---|
| committer | Justin Berger <jdavidberger@gmail.com> | 2018-07-01 04:13:34 +0000 |
| commit | 47141c873ffd3d7af62bfba40b1adbcce0df6574 (patch) | |
| tree | 245575a52f46b7fdd163b264eb17ee74863d0c28 /src/survive_vive.c | |
| parent | 70ac578a3edfdac2223bb0419445621cfb153c72 (diff) | |
| download | libsurvive-47141c873ffd3d7af62bfba40b1adbcce0df6574.tar.gz libsurvive-47141c873ffd3d7af62bfba40b1adbcce0df6574.tar.bz2 | |
Finalized reading in and transforming of accel/gyro data
Diffstat (limited to 'src/survive_vive.c')
| -rwxr-xr-x | src/survive_vive.c | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/src/survive_vive.c b/src/survive_vive.c index 5bf0800..cc2303c 100755 --- a/src/survive_vive.c +++ b/src/survive_vive.c @@ -1021,6 +1021,8 @@ void calibrate_acc(SurviveObject* so, FLT* agm) { agm[1] *= so->acc_scale[1]; agm[2] *= so->acc_scale[2]; } + + quatrotatevector(agm, so->relative_imu_pose.Rot, agm); } void calibrate_gyro(SurviveObject* so, FLT* agm) { @@ -1035,6 +1037,8 @@ void calibrate_gyro(SurviveObject* so, FLT* agm) { agm[1] *= so->gyro_scale[1]; agm[2] *= so->gyro_scale[2]; } + + quatrotatevector(agm, so->relative_imu_pose.Rot, agm); } typedef struct |