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#include <survive.h>
bool SurviveSensorActivations_isPairValid(const SurviveSensorActivations *self, uint32_t tolerance,
uint32_t timecode_now, uint32_t idx, int lh) {
const uint32_t *data_timecode = self->timecode[idx][lh];
return !(timecode_now - data_timecode[0] > tolerance || timecode_now - data_timecode[1] > tolerance);
}
void SurviveSensorActivations_add_imu(SurviveSensorActivations *self, struct PoserDataIMU *imuData) {
for (int i = 0; i < 3; i++) {
self->accel[i] = .98 * self->accel[i] + .02 * imuData->accel[i];
}
for (int i = 0; i < 3; i++) {
self->gyro[i] = .98 * self->gyro[i] + .02 * imuData->gyro[i];
}
for (int i = 0; i < 3; i++) {
self->mag[i] = .98 * self->mag[i] + .02 * imuData->mag[i];
}
}
void SurviveSensorActivations_add(SurviveSensorActivations *self, struct PoserDataLight *lightData) {
int axis = (lightData->acode & 1);
uint32_t *data_timecode = &self->timecode[lightData->sensor_id][lightData->lh][axis];
FLT *angle = &self->angles[lightData->sensor_id][lightData->lh][axis];
uint32_t *length = &self->lengths[lightData->sensor_id][lightData->lh][axis];
*angle = lightData->angle;
*data_timecode = lightData->timecode;
*length = lightData->length * 48000000;
}
uint32_t SurviveSensorActivations_default_tolerance = (uint32_t)(48000000 /*mhz*/ * (16.7 * 2 /*ms*/) / 1000);
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