diff options
| -rwxr-xr-x | src/survive_vive.c | 16 |
1 files changed, 10 insertions, 6 deletions
diff --git a/src/survive_vive.c b/src/survive_vive.c index 6a685eb..b44e4fc 100755 --- a/src/survive_vive.c +++ b/src/survive_vive.c @@ -1172,21 +1172,22 @@ void survive_data_cb( SurviveUSBInterface * si ) acceldata[3], acceldata[4], acceldata[5], 0,0,0 }; + agm[0]*=(float)(1./8192.0); + agm[1]*=(float)(1./8192.0); + agm[2]*=(float)(1./8192.0); calibrate_acc(obj, agm); //1G for accelerometer, from MPU6500 datasheet //this can change if the firmware changes the sensitivity. - agm[0]/=8192.0f; - agm[1]/=8192.0f; - agm[2]/=8192.0f; + + agm[3]*=(float)((1./32.768)*(3.14159/180.)); + agm[4]*=(float)((1./32.768)*(3.14159/180.)); + agm[5]*=(float)((1./32.768)*(3.14159/180.)); calibrate_gyro(obj, agm+3); //65.5 deg/s for gyroscope, from MPU6500 datasheet //1000 deg/s for gyroscope, from MPU6500 datasheet - agm[3]/=65.5f; - agm[4]/=65.5f; - agm[5]/=65.5f; ctx->imuproc( obj, 3, agm, timecode, code ); } @@ -1378,6 +1379,9 @@ printf( "Loading config: %d\n", 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; } } if (jsoneq(ct0conf, tk, "acc_scale") == 0) { |