diff options
Diffstat (limited to 'src/survive_vive.c')
| -rwxr-xr-x | src/survive_vive.c | 15 |
1 files changed, 5 insertions, 10 deletions
diff --git a/src/survive_vive.c b/src/survive_vive.c index 60b3dc9..83bc977 100755 --- a/src/survive_vive.c +++ b/src/survive_vive.c @@ -1233,20 +1233,15 @@ static void handle_watchman( SurviveObject * w, uint8_t * readdata ) if( ( ( type & 0xe8 ) == 0xe8 ) || doimu ) //Hmm, this looks kind of yucky... we can get e8's that are accelgyro's but, cleared by first propset. { propset |= 2; - //XXX XXX BIG TODO!!! Actually recal gyro data. - FLT agm[9] = { readdata[1], readdata[2], readdata[3], - readdata[4], readdata[5], readdata[6], - 0,0,0 }; - -// if (w->acc_scale) printf("%f %f %f\n",w->acc_scale[0],w->acc_scale[1],w->acc_scale[2]); - //I don't understand where these numbers come from but the data from the WMD seems to max out at 255... + FLT agm[9] = { 0, 0, 0, 0, 0, 0, 0, 0, 0 }; + int j; + for( j = 0; j < 6; j++ ) + agm[j] = (int16_t)(readdata[j*2+1] | (readdata[j*2+2]<<8)); calibrate_acc(w, agm); calibrate_gyro(w, agm+3); w->ctx->imuproc( w, 3, agm, (time1<<24)|(time2<<16)|readdata[0], 0 ); - - int16_t * k = (int16_t *)readdata+1; - //printf( "Match8 %d %d %d %d %d %3d %3d\n", qty, k[0], k[1], k[2], k[3], k[4], k[5] ); readdata += 13; qty -= 13; + type &= ~0xe8; if( qty ) { |