From d53ef13d5f8154d225c9f763131129d179db2441 Mon Sep 17 00:00:00 2001 From: Joshua Allen Date: Fri, 5 May 2017 15:50:41 -0400 Subject: calibration values from MPU-6500 datasheet. I'm pretty sure the accelerometer values are correct. The gyroscope values may not be correct. --- src/survive_vive.c | 11 +++++++++++ 1 file changed, 11 insertions(+) (limited to 'src/survive_vive.c') diff --git a/src/survive_vive.c b/src/survive_vive.c index 030db8a..88b9fee 100755 --- a/src/survive_vive.c +++ b/src/survive_vive.c @@ -1127,6 +1127,17 @@ void survive_data_cb( SurviveUSBInterface * si ) acceldata[3], acceldata[4], acceldata[5], 0,0,0 }; + //1G for accelerometer, from MPU6500 datasheet + //this can change if the firmware changes the sensitivity. + agm[0]/=8192.0f; + agm[1]/=8192.0f; + agm[2]/=8192.0f; + + //1000 deg/s for gyroscope, from MPU6500 datasheet + agm[3]/=65.5f; + agm[4]/=65.5f; + agm[5]/=65.5f; + ctx->imuproc( obj, 3, agm, timecode, code ); } } -- cgit v1.2.3