diff options
Diffstat (limited to 'src/survive_imu.c')
| -rw-r--r-- | src/survive_imu.c | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/survive_imu.c b/src/survive_imu.c index f866caf..494b246 100644 --- a/src/survive_imu.c +++ b/src/survive_imu.c @@ -15,7 +15,7 @@ static void mahony_ahrs(SurviveIMUTracker *tracker, LinmathVec3d _gyro, LinmathV LinmathVec3d accel; memcpy(accel, _accel, 3 * sizeof(FLT)); - const FLT sample_f = 240; + const FLT sample_f = tracker->so->imu_freq; const FLT prop_gain = .5; const FLT int_gain = 0; @@ -119,6 +119,7 @@ void survive_imu_tracker_integrate(SurviveObject *so, SurviveIMUTracker *tracker quatfrom2vectors(tracker->pose.Rot, tracker->updir, up); tracker->accel_scale_bias = 1. / magnitude3d(tracker->updir); tracker->is_initialized = true; + tracker->so = so; return; } |