diff options
Diffstat (limited to 'src/survive_vive.c')
| -rwxr-xr-x | src/survive_vive.c | 29 |
1 files changed, 1 insertions, 28 deletions
diff --git a/src/survive_vive.c b/src/survive_vive.c index 1ffb737..60b3dc9 100755 --- a/src/survive_vive.c +++ b/src/survive_vive.c @@ -1239,20 +1239,9 @@ static void handle_watchman( SurviveObject * w, uint8_t * readdata ) 0,0,0 }; // if (w->acc_scale) printf("%f %f %f\n",w->acc_scale[0],w->acc_scale[1],w->acc_scale[2]); - calibrate_acc(w, agm); - //I don't understand where these numbers come from but the data from the WMD seems to max out at 255... - agm[0]*=(1.0f/255.0f); - agm[1]*=(1.0f/255.0f); - agm[2]*=(1.0f/255.0f); - + calibrate_acc(w, agm); calibrate_gyro(w, agm+3); - - //I don't understand where these numbers come from but the data from the WMD seems to max out at 255... - agm[3]*=(1.0f/255.0f); - agm[4]*=(1.0f/255.0f); - agm[5]*=(1.0f/255.0f); - w->ctx->imuproc( w, 3, agm, (time1<<24)|(time2<<16)|readdata[0], 0 ); int16_t * k = (int16_t *)readdata+1; @@ -1495,24 +1484,8 @@ void survive_data_cb( SurviveUSBInterface * si ) 0, 0}; - //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 - agm[0] *= (float)(2. / 8192.0); - agm[1] *= (float)(2. / 8192.0); - agm[2] *= (float)(2. / 8192.0); calibrate_acc(obj, agm); - - // From datasheet, can be 250, 500, 1000, 2000 deg/s range over 16 bits - // FLT deg_per_sec = 250; - // FLT conv = (float)((1./deg_per_sec)*(3.14159/180.)) / 8192.; - FLT DEGREES_TO_RADS = 3.14159 / 180.; - FLT conv = 1. / 10. * DEGREES_TO_RADS; calibrate_gyro(obj, agm + 3); - agm[3] *= conv; - agm[4] *= conv; - agm[5] *= conv; - ctx->imuproc( obj, 3, agm, timecode, code ); } } |