From 8ec5d7facc76e05859444335adbdbfd2bbbad852 Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Sun, 18 Mar 2018 23:15:54 -0600 Subject: Added code to cancel out object rotation when calibrating --- src/survive_process.c | 28 +++++++++++++++------------- 1 file changed, 15 insertions(+), 13 deletions(-) (limited to 'src/survive_process.c') diff --git a/src/survive_process.c b/src/survive_process.c index b697f4a..f315884 100644 --- a/src/survive_process.c +++ b/src/survive_process.c @@ -132,19 +132,21 @@ int survive_default_htc_config_process(SurviveObject *so, char *ct0conf, int len } void survive_default_imu_process( SurviveObject * so, int mask, FLT * accelgyromag, uint32_t timecode, int id ) { - if( so->PoserFn ) - { - PoserDataIMU imu = { - .hdr = - { - .pt = POSERDATA_IMU, - }, - .datamask = mask, - .accel = {accelgyromag[0], accelgyromag[1], accelgyromag[2]}, - .gyro = {accelgyromag[3], accelgyromag[4], accelgyromag[5]}, - .mag = {accelgyromag[6], accelgyromag[7], accelgyromag[8]}, - .timecode = timecode, - }; + PoserDataIMU imu = { + .hdr = + { + .pt = POSERDATA_IMU, + }, + .datamask = mask, + .accel = {accelgyromag[0], accelgyromag[1], accelgyromag[2]}, + .gyro = {accelgyromag[3], accelgyromag[4], accelgyromag[5]}, + .mag = {accelgyromag[6], accelgyromag[7], accelgyromag[8]}, + .timecode = timecode, + }; + + SurviveSensorActivations_add_imu(&so->activations, &imu); + + if (so->PoserFn) { so->PoserFn( so, (PoserData *)&imu ); } } -- cgit v1.2.3