diff options
Diffstat (limited to 'src/survive_vive.c')
| -rw-r--r-- | src/survive_vive.c | 16 |
1 files changed, 14 insertions, 2 deletions
diff --git a/src/survive_vive.c b/src/survive_vive.c index 61716d3..7da2897 100644 --- a/src/survive_vive.c +++ b/src/survive_vive.c @@ -595,7 +595,13 @@ static void handle_watchman( struct 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; - w->ctx->imuproc( w, (int16_t *)&readdata[1], (time1<<24)|(time2<<16)|readdata[0], 0 ); + //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 }; + + 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; @@ -810,7 +816,13 @@ void survive_data_cb( SurviveUSBInterface * si ) if( cd > 0 ) { obj->oldcode = code; - ctx->imuproc( obj, acceldata, timecode, code ); + + //XXX XXX BIG TODO!!! Actually recal gyro data. + FLT agm[9] = { acceldata[0], acceldata[1], acceldata[2], + acceldata[3], acceldata[4], acceldata[5], + 0,0,0 }; + + ctx->imuproc( obj, 3, agm, timecode, code ); } } |