1 files changed, 45 insertions, 4 deletions

diff --git a/src/survive_default_devices.c b/src/survive_default_devices.c
index 2e47b9e..4fa3284 100644
--- a/src/survive_default_devices.c
+++ b/src/survive_default_devices.c
@@ -144,10 +144,6 @@ int survive_load_htc_config_format(SurviveObject *so, char *ct0conf, int len) {
 			FLT *values = NULL;
 			if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) {
 				so->acc_bias = values;
-				const FLT bias_units = 1. / 1000.; // I deeply suspect bias is in milligravities -JB
-				so->acc_bias[0] *= bias_units;
-				so->acc_bias[1] *= bias_units;
-				so->acc_bias[2] *= bias_units;
 			}
 		}
 		if (jsoneq(ct0conf, tk, "acc_scale") == 0) {
@@ -174,6 +170,51 @@ 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;
+		}
+		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;
+		}
+	} 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.
+	{
+		// 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 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.);
+
+		// 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.);
+	}
+
 	char fname[64];
 
 	sprintf(fname, "calinfo/%s_points.csv", so->codename);