The open source OpenXR runtime
d/vive: Use double for imu ranges
authored by
Christoph Haag
and committed by
Jakob Bornecrantz
63866610
0f34fea8
+3
-3
+3
-3
src/xrt/drivers/vive/vive_device.c
+3
-3
src/xrt/drivers/vive/vive_device.c
···
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/* From there, handle all new samples */
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for (j = 3; j; --j, i = (i + 1) % 3) {
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-
float scale;
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double scale;
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uint8_t seq;
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sample = report->sample + i;
···
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(int16_t)__le16_to_cpu(sample->acc[2]),
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};
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scale = (float)d->config.imu.acc_range / 32768.0f;
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scale = (double)d->config.imu.acc_range / 32768.0f;
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struct xrt_vec3 acceleration = {
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scale * d->config.imu.acc_scale.x * acc[0] - d->config.imu.acc_bias.x,
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scale * d->config.imu.acc_scale.y * acc[1] - d->config.imu.acc_bias.y,
···
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(int16_t)__le16_to_cpu(sample->gyro[2]),
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};
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scale = (float)d->config.imu.gyro_range / 32768.0f;
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scale = (double)d->config.imu.gyro_range / 32768.0f;
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struct xrt_vec3 angular_velocity = {
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scale * d->config.imu.gyro_scale.x * gyro[0] - d->config.imu.gyro_bias.x,
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scale * d->config.imu.gyro_scale.y * gyro[1] - d->config.imu.gyro_bias.y,