diff options
Diffstat (limited to 'src/survive_process.c')
| -rw-r--r-- | src/survive_process.c | 24 |
1 files changed, 21 insertions, 3 deletions
diff --git a/src/survive_process.c b/src/survive_process.c index cb53588..75453da 100644 --- a/src/survive_process.c +++ b/src/survive_process.c @@ -21,18 +21,36 @@ void survive_default_light_process( struct SurviveObject * so, int sensor_id, in //No loner need sync information past this point. if( sensor_id < 0 ) return; - - float angle = (timeinsweep - 200000) * (1./200000. * 3.14159265359/2.0); + FLT angle = (timeinsweep - so->timecenter_ticks) * (1./so->timecenter_ticks * 3.14159265359/2.0); //Need to now do angle correction. #if 1 struct BaseStationData * bsd = &ctx->bsd[base_station]; + //XXX TODO: This seriously needs to be worked on. See: https://github.com/cnlohr/libsurvive/issues/18 + angle += bsd->fcalphase[axis]; +// angle += bsd->fcaltilt[axis] * predicted_angle(axis1); + //TODO!!! #endif - + + FLT length_sec = length / (FLT)so->timebase_hz; + ctx->angleproc( so, sensor_id, acode, timecode, length_sec, angle ); } + +void survive_default_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ) +{ + struct SurviveContext * ctx = so->ctx; + if( ctx->calptr ) + { + survive_cal_angle( so, sensor_id, acode, timecode, length, angle ); + } + + //TODO: Writeme! +} + + void survive_default_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id ) { //TODO: Writeme! |