From 55f498db296ff353a0cf870c51bffd92cc360484 Mon Sep 17 00:00:00 2001 From: cnlohr Date: Fri, 6 Apr 2018 19:39:27 -0400 Subject: Unify the location of the updates to the IMU to use G's and rads/sec --- src/survive_default_devices.c | 42 ++++++++++++++++++++++++++++++++++++++---- 1 file changed, 38 insertions(+), 4 deletions(-) (limited to 'src/survive_default_devices.c') diff --git a/src/survive_default_devices.c b/src/survive_default_devices.c index 2e47b9e..3c102b2 100644 --- a/src/survive_default_devices.c +++ b/src/survive_default_devices.c @@ -144,10 +144,6 @@ int survive_load_htc_config_format(SurviveObject *so, char *ct0conf, int len) { FLT *values = NULL; if (parse_float_array(ct0conf, tk + 2, &values, count) > 0) { so->acc_bias = values; - const FLT bias_units = 1. / 1000.; // I deeply suspect bias is in milligravities -JB - so->acc_bias[0] *= bias_units; - so->acc_bias[1] *= bias_units; - so->acc_bias[2] *= bias_units; } } if (jsoneq(ct0conf, tk, "acc_scale") == 0) { @@ -174,6 +170,44 @@ int survive_load_htc_config_format(SurviveObject *so, char *ct0conf, int len) { } } + + //Handle device-specific sacling. + if( strcmp( so->codename, "HMD" ) == 0 ) + { + if( so->acc_scale ) + { + so->acc_scale[0] *= -1./8192.0; + so->acc_scale[1] *= -1./8192.0; + so->acc_scale[2] *= 1./8192.0; + } + if( so->acc_bias ) scale3d( so->acc_bias, so->acc_bias, 2./1000. ); //Odd but seems right. + if( so->gyro_scale ) + { + so->gyro_scale[0] *= -0.000065665; + so->gyro_scale[1] *= -0.000065665; + so->gyro_scale[2] *= 0.000065665; + } + } + else if( memcmp( so->codename, "WM", 2 ) == 0 ) + { + //??!!?? No one has yet decoded the watchman accelerometer data. + } + else //Verified on WW, Need to verify on Tracker. + { + //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 + if( so->acc_scale ) scale3d( so->acc_scale, so->acc_scale, 2./8192.0 ); + + //If any other device, we know we at least need this. + // I deeply suspect bias is in milligravities -JB + if( so->acc_bias ) scale3d( so->acc_bias, so->acc_bias, 1./1000. ); + + // From datasheet, can be 250, 500, 1000, 2000 deg/s range over 16 bits + // FLT deg_per_sec = 250; + if( so->gyro_scale )scale3d( so->gyro_scale, so->gyro_scale, 3.14159 / 1800. ); + } + char fname[64]; sprintf(fname, "calinfo/%s_points.csv", so->codename); -- cgit v1.2.3