diff options
Diffstat (limited to 'src/survive_default_devices.c')
-rw-r--r-- | src/survive_default_devices.c | 54 |
1 files changed, 27 insertions, 27 deletions
diff --git a/src/survive_default_devices.c b/src/survive_default_devices.c index 954c47a..4fa3284 100644 --- a/src/survive_default_devices.c +++ b/src/survive_default_devices.c @@ -170,49 +170,49 @@ int survive_load_htc_config_format(SurviveObject *so, char *ct0conf, int len) { } } - - //Handle device-specific sacling. - if( strcmp( so->codename, "HMD" ) == 0 ) - { - if( so->acc_scale ) - { - so->acc_scale[0] *= -1./8192.0; - so->acc_scale[1] *= -1./8192.0; - so->acc_scale[2] *= 1./8192.0; + // Handle device-specific sacling. + if (strcmp(so->codename, "HMD") == 0) { + if (so->acc_scale) { + so->acc_scale[0] *= -1. / 8192.0; + so->acc_scale[1] *= -1. / 8192.0; + so->acc_scale[2] *= 1. / 8192.0; } - if( so->acc_bias ) scale3d( so->acc_bias, so->acc_bias, 2./1000. ); //Odd but seems right. - if( so->gyro_scale ) - { + if (so->acc_bias) + scale3d(so->acc_bias, so->acc_bias, 2. / 1000.); // Odd but seems right. + if (so->gyro_scale) { so->gyro_scale[0] *= -0.000065665; so->gyro_scale[1] *= -0.000065665; - so->gyro_scale[2] *= 0.000065665; + so->gyro_scale[2] *= 0.000065665; } - } - else if( memcmp( so->codename, "WM", 2 ) == 0 ) - { - if( so->acc_scale ) scale3d( so->acc_scale, so->acc_scale, 2./8192.0 ); - if( so->acc_bias ) scale3d( so->acc_bias, so->acc_bias, 2./1000. ); //Need to verify. - if( so->gyro_scale ) scale3d( so->gyro_scale, so->gyro_scale, 3.14159 / 1800. / 1.8 ); //??! 1.8 feels right but why?! + } else if (memcmp(so->codename, "WM", 2) == 0) { + if (so->acc_scale) + scale3d(so->acc_scale, so->acc_scale, 2. / 8192.0); + if (so->acc_bias) + scale3d(so->acc_bias, so->acc_bias, 2. / 1000.); // Need to verify. + if (so->gyro_scale) + scale3d(so->gyro_scale, so->gyro_scale, 3.14159 / 1800. / 1.8); //??! 1.8 feels right but why?! int j; for (j = 0; j < so->sensor_ct; j++) { so->sensor_locations[j * 3 + 0] *= 1.0; } - } - else //Verified on WW, Need to verify on Tracker. + } else // Verified on WW, Need to verify on Tracker. { - //1G for accelerometer, from MPU6500 datasheet - //this can change if the firmware changes the sensitivity. + // 1G for accelerometer, from MPU6500 datasheet + // this can change if the firmware changes the sensitivity. // When coming off of USB, these values are in units of .5g -JB - if( so->acc_scale ) scale3d( so->acc_scale, so->acc_scale, 2./8192.0 ); + if (so->acc_scale) + scale3d(so->acc_scale, so->acc_scale, 2. / 8192.0); - //If any other device, we know we at least need this. + // If any other device, we know we at least need this. // I deeply suspect bias is in milligravities -JB - if( so->acc_bias ) scale3d( so->acc_bias, so->acc_bias, 1./1000. ); + if (so->acc_bias) + scale3d(so->acc_bias, so->acc_bias, 1. / 1000.); // From datasheet, can be 250, 500, 1000, 2000 deg/s range over 16 bits // FLT deg_per_sec = 250; - if( so->gyro_scale )scale3d( so->gyro_scale, so->gyro_scale, 3.14159 / 1800. ); + if (so->gyro_scale) + scale3d(so->gyro_scale, so->gyro_scale, 3.14159 / 1800.); } char fname[64]; |