diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/survive_imu.c | 9 |
1 files changed, 7 insertions, 2 deletions
diff --git a/src/survive_imu.c b/src/survive_imu.c index 36d1aeb..8f4266a 100644 --- a/src/survive_imu.c +++ b/src/survive_imu.c @@ -174,7 +174,7 @@ static void iterate_velocity(LinmathVec3d result, SurviveIMUTracker *tracker, do } void survive_imu_tracker_integrate(SurviveObject *so, SurviveIMUTracker *tracker, PoserDataIMU *data) { - if (tracker->last_data.timecode == 0) { + if (!tracker->is_initialized) { tracker->pose.Rot[0] = 1.; if (tracker->last_data.datamask == imu_calibration_iterations) { tracker->last_data = *data; @@ -182,7 +182,7 @@ void survive_imu_tracker_integrate(SurviveObject *so, SurviveIMUTracker *tracker const FLT up[3] = {0, 0, 1}; quatfrom2vectors(tracker->pose.Rot, tracker->updir, up); tracker->accel_scale_bias = 1. / magnitude3d(tracker->updir); - + tracker->is_initialized = true; return; } @@ -233,6 +233,11 @@ void survive_imu_tracker_integrate(SurviveObject *so, SurviveIMUTracker *tracker void survive_imu_tracker_integrate_observation(SurviveObject *so, uint32_t timecode, SurviveIMUTracker *tracker, SurvivePose *pose, const FLT *R) { + if (!tracker->is_initialized) { + tracker->pose = *pose; + return; + } + // Kalman filter assuming: // F -> Identity // H -> Identity |