+8 -5

src/xrt/drivers/wmr/wmr_hmd.c

reviewed

··· 148 148 hololens_sensors_decode_packet(wh, &wh->packet, buffer, size); 149 149 150 150 for (int i = 0; i < 4; i++) { 151 151 - vec3_from_hololens_gyro(wh->packet.gyro, i, &wh->raw_gyro); 152 152 - vec3_from_hololens_accel(wh->packet.accel, i, &wh->raw_accel); 151 151 + struct xrt_vec3 raw_gyro; 152 152 + struct xrt_vec3 raw_accel; 153 153 + 154 154 + vec3_from_hololens_gyro(wh->packet.gyro, i, &raw_gyro); 155 155 + vec3_from_hololens_accel(wh->packet.accel, i, &raw_accel); 153 156 154 157 os_mutex_lock(&wh->fusion.mutex); 155 158 wh->fusion.last_imu_timestamp_ns = now_ns; 156 156 - wh->fusion.last_angular_velocity = wh->raw_gyro; 159 159 + wh->fusion.last_angular_velocity = raw_gyro; 157 160 m_imu_3dof_update( // 158 161 &wh->fusion.i3dof, // 159 162 wh->packet.gyro_timestamp[i] * WMR_MS_HOLOLENS_NS_PER_TICK, // 160 160 - &wh->raw_accel, // 161 161 - &wh->raw_gyro); // 163 163 + &raw_accel, // 164 164 + &raw_gyro); // 162 165 os_mutex_unlock(&wh->fusion.mutex); 163 166 } 164 167 break;

-3

src/xrt/drivers/wmr/wmr_hmd.h

reviewed

··· 69 69 70 70 struct hololens_sensors_packet packet; 71 71 72 72 - struct xrt_vec3 raw_accel; 73 73 - struct xrt_vec3 raw_gyro; 74 74 - 75 72 struct 76 73 { 77 74 //! Protects all members of the `fusion` substruct.