diff options
Diffstat (limited to 'src/survive_cal.c')
| -rwxr-xr-x | src/survive_cal.c | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/src/survive_cal.c b/src/survive_cal.c index a9f9e00..79519b6 100755 --- a/src/survive_cal.c +++ b/src/survive_cal.c @@ -53,8 +53,9 @@ static void reset_calibration( struct SurviveCalData * cd ); void ootx_error_clbk_d(ootx_decoder_context *ct, const char *msg) { SurviveContext *ctx = (SurviveContext *)(ct->user); + SurviveCalData *cd = ctx->calptr; int id = ct->user1; - SV_INFO("(%d) %s", id, msg); + SV_INFO("(%s %d) %s", cd->poseobjects[0]->codename, id, msg); } void ootx_packet_clbk_d(ootx_decoder_context *ct, ootx_packet* packet) @@ -144,7 +145,7 @@ void survive_cal_install( struct SurviveContext * ctx ) for( i = 0; i < NUM_LIGHTHOUSES; i++ ) { ootx_init_decoder_context(&cd->ootx_decoders[i]); - survive_attach_configi(ctx, "ootx-ignore-sync-error", &cd->ootx_decoders[i].ignore_sync_bit_error); + cd->ootx_decoders[i].ignore_sync_bit_error = survive_configi(ctx, "ootx-ignore-sync-error", SC_SETCONFIG, 0); cd->ootx_decoders[i].user = ctx; cd->ootx_decoders[i].user1 = i; } @@ -176,10 +177,9 @@ void survive_cal_install( struct SurviveContext * ctx ) { if (MAX_DEVICES_TO_CAL > cd->numPoseObjects) { - cd->poseobjects[j] = ctx->objs[j]; + cd->poseobjects[cd->numPoseObjects] = ctx->objs[j]; + SV_INFO("Calibration is using %s", cd->poseobjects[cd->numPoseObjects]->codename); cd->numPoseObjects++; - - SV_INFO("Calibration is using %s", cd->poseobjects[j]->codename); } else { @@ -489,7 +489,7 @@ static void handle_calibration( struct SurviveCalData *cd ) #define OUTLIER_ANGLE 0.001 //TODO: Tune #define OUTLIER_LENGTH 0.001 //TODO: Tune - #define ANGLE_STDEV_TOO_HIGH 0.000001 //TODO: Tune +#define ANGLE_STDEV_TOO_HIGH 0.001 // TODO: Tune FLT avgsweep = sumsweepangle / dpmax; FLT avglen = sumlentime / dpmax; |