UnrealXR/nrealAirLinuxDriver
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Remove wrong filtering

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Signed-off-by: TheJackiMonster <thejackimonster@gmail.com>
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TheJackiMonster 2023-04-23 02:39:53 +02:00
parent 678c0196ea
commit 2da9cdd4f8
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1 changed files with 0 additions and 16 deletions
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16
interface_lib/src/device3.c
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@ -818,24 +818,8 @@ int device3_read(device3_type* device, int timeout) {
gyroscope = FusionOffsetUpdate((FusionOffset*) device->offset, gyroscope);
FusionQuaternion prev = FusionAhrsGetQuaternion((FusionAhrs*) device->ahrs);
FusionAhrsUpdate((FusionAhrs*) device->ahrs, gyroscope, accelerometer, magnetometer, deltaTime);
FusionAhrsFlags flags = FusionAhrsGetFlags((FusionAhrs*) device->ahrs);
if ((device->calibration) &&
(!flags.initialising) &&
(!flags.accelerationRejectionTimeout) &&
(!flags.magneticRejectionTimeout)) {
const float* noises = device->calibration->noises.array;
FusionQuaternion* q = &((FusionAhrs*) device->ahrs)->quaternion;
q->array[0] = noises[0] * prev.array[0] + (1.0f - noises[0]) * q->array[0];
q->array[1] = noises[1] * prev.array[1] + (1.0f - noises[1]) * q->array[1];
q->array[2] = noises[2] * prev.array[2] + (1.0f - noises[2]) * q->array[2];
q->array[3] = noises[3] * prev.array[3] + (1.0f - noises[3]) * q->array[3];
}
device3_callback(device, timestamp, DEVICE3_EVENT_UPDATE);
return 0;
}