UnrealXR/nrealAirLinuxDriver
Archived
2
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Add initial calibration data and comment out using magnetometer

Browse source 
Signed-off-by: TheJackiMonster <thejackimonster@gmail.com>
This commit is contained in:
TheJackiMonster 2023-04-24 21:15:18 +02:00
parent 7998de05b7
commit 3ce7044590
No known key found for this signature in database
GPG key ID: D850A5F772E880F9
1 changed files with 3 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

5
interface_lib/src/device3.c
View file

@ -640,7 +640,7 @@ static void apply_calibration(const device3_type* device,
magnetometerOffset
);
static FusionVector max = { -1000, -1000, -1000 }, min = { 1000, 1000, 1000 };
static FusionVector max = { 0.077f, -0.129f, -0.446f }, min = { 0.603f, 0.447f, 0.085f };
for (int i = 0; i < 3; i++) {
if (magnetometer->array[i] > max.array[i]) max.array[i] = magnetometer->array[i];
if (magnetometer->array[i] < min.array[i]) min.array[i] = magnetometer->array[i];
@ -869,7 +869,8 @@ int device3_read(device3_type* device, int timeout) {
gyroscope = FusionOffsetUpdate((FusionOffset*) device->offset, gyroscope);
FusionAhrsUpdate((FusionAhrs*) device->ahrs, gyroscope, accelerometer, magnetometer, deltaTime);
//FusionAhrsUpdate((FusionAhrs*) device->ahrs, gyroscope, accelerometer, magnetometer, deltaTime);
FusionAhrsUpdateNoMagnetometer((FusionAhrs*) device->ahrs, gyroscope, accelerometer, deltaTime);
device3_callback(device, timestamp, DEVICE3_EVENT_UPDATE);
return 0;