diff options
Diffstat (limited to 'src/survive_default_devices.c')
-rw-r--r-- | src/survive_default_devices.c | 23 |
1 files changed, 16 insertions, 7 deletions
diff --git a/src/survive_default_devices.c b/src/survive_default_devices.c index 48f3b41..8ecff0b 100644 --- a/src/survive_default_devices.c +++ b/src/survive_default_devices.c @@ -6,6 +6,9 @@ #include "json_helpers.h" +#define HMD_IMU_HZ 1000.0f +#define VIVE_DEFAULT_IMU_HZ 250.0f + static SurviveObject * survive_create_device(SurviveContext *ctx, const char *driver_name, void *driver, const char *device_name, haptic_func fn) { @@ -17,7 +20,7 @@ survive_create_device(SurviveContext *ctx, const char *driver_name, memcpy(device->drivername, driver_name, strlen(driver_name)); device->timebase_hz = 48000000; - device->imu_freq = 250.f; + device->imu_freq = VIVE_DEFAULT_IMU_HZ; device->haptic = fn; return device; @@ -171,21 +174,27 @@ int survive_load_htc_config_format(SurviveObject *so, char *ct0conf, int len) { if (strcmp(so->codename, "HMD") == 0) { if (so->acc_scale) { scale3d(so->acc_scale, so->acc_scale, 1. / 8192.0); + //Invert X and Y at least on my vive. + so->acc_scale[1] *= -1; + so->acc_scale[0] *= -1; } if (so->acc_bias) - scale3d(so->acc_bias, so->acc_bias, 2. / 1000.); // Odd but seems right. + scale3d(so->acc_bias, so->acc_bias, 1000.0 ); // Odd but seems right. + + so->imu_freq = HMD_IMU_HZ; + if (so->gyro_scale) { FLT deg_per_sec = 500; scale3d(so->gyro_scale, so->gyro_scale, deg_per_sec / (1 << 15) * LINMATHPI / 180.); - // scale3d(so->gyro_scale, so->gyro_scale, 0.000065665); + //Invert X and Y at least on my vive. + so->gyro_scale[0] *= -1; + so->gyro_scale[1] *= -1; } - - so->imu_freq = 1000.f; } 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. + scale3d(so->acc_bias, so->acc_bias, 1000.); // Need to verify. FLT deg_per_sec = 2000; if (so->gyro_scale) @@ -206,7 +215,7 @@ int survive_load_htc_config_format(SurviveObject *so, char *ct0conf, int len) { // 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.); + scale3d(so->acc_bias, so->acc_bias, 1000.); // From datasheet, can be 250, 500, 1000, 2000 deg/s range over 16 bits FLT deg_per_sec = 2000; |