1 files changed, 26 insertions, 22 deletions

diff --git a/src/survive_process.c b/src/survive_process.c
index f0928b4..1402dab 100644
--- a/src/survive_process.c
+++ b/src/survive_process.c
@@ -19,12 +19,13 @@ void survive_default_light_process( SurviveObject * so, int sensor_id, int acode
 	}
 
 	//We don't use sync times, yet.
-	if( sensor_id <= -1 )
-	{
-		if( so->PoserFn ) 
-		{
+	if (sensor_id <= -1) {
+		if (so->PoserFn) {
 			PoserDataLight l = {
-				.hdr = { .pt = POSERDATA_SYNC, },
+				.hdr =
+					{
+						.pt = POSERDATA_SYNC,
+					},
 				.sensor_id = sensor_id,
 				.acode = acode,
 				.timecode = timecode,
@@ -32,7 +33,7 @@ void survive_default_light_process( SurviveObject * so, int sensor_id, int acode
 				.angle = 0,
 				.lh = lh,
 			};
-			so->PoserFn( so, (PoserData *)&l );
+			so->PoserFn(so, (PoserData *)&l);
 		}
 		return;
 	}
@@ -131,9 +132,10 @@ void survive_default_raw_pose_process(SurviveObject *so, uint8_t lighthouse, Sur
 	so->FromLHPose[lighthouse] = *pose;
 }
 
-void survive_default_lighthouse_pose_process(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *pose) {
-	if (pose) {
-		ctx->bsd[lighthouse].Pose = *pose;
+void survive_default_lighthouse_pose_process(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *lighthouse_pose,
+											 SurvivePose *object_pose) {
+	if (lighthouse_pose) {
+		ctx->bsd[lighthouse].Pose = *lighthouse_pose;
 		ctx->bsd[lighthouse].PositionSet = 1;
 	} else {
 		ctx->bsd[lighthouse].PositionSet = 0;
@@ -148,19 +150,21 @@ int survive_default_htc_config_process(SurviveObject *so, char *ct0conf, int len
 }
 void survive_default_imu_process( SurviveObject * so, int mask, FLT * accelgyromag, uint32_t timecode, int id )
 {
-	if( so->PoserFn )
-	{
-		PoserDataIMU imu = {
-			.hdr =
-				{
-					.pt = POSERDATA_IMU,
-				},
-			.datamask = mask,
-			.accel = {accelgyromag[0], accelgyromag[1], accelgyromag[2]},
-			.gyro = {accelgyromag[3], accelgyromag[4], accelgyromag[5]},
-			.mag = {accelgyromag[6], accelgyromag[7], accelgyromag[8]},
-			.timecode = timecode,
-		};
+	PoserDataIMU imu = {
+		.hdr =
+			{
+				.pt = POSERDATA_IMU,
+			},
+		.datamask = mask,
+		.accel = {accelgyromag[0], accelgyromag[1], accelgyromag[2]},
+		.gyro = {accelgyromag[3], accelgyromag[4], accelgyromag[5]},
+		.mag = {accelgyromag[6], accelgyromag[7], accelgyromag[8]},
+		.timecode = timecode,
+	};
+
+	SurviveSensorActivations_add_imu(&so->activations, &imu);
+
+	if (so->PoserFn) {
 		so->PoserFn( so, (PoserData *)&imu );
 	}
 }