The open source OpenXR runtime
d/psmv: Normalize acceleration to gravity
+6
-3
+6
-3
src/xrt/drivers/psmv/psmv_driver.c
+6
-3
src/xrt/drivers/psmv/psmv_driver.c
···
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602
struct xrt_vec3_i32 *rg = &sample->gyro;
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psmv->read.accel.x = (ra->x - psmv->calibration.accel.bias.x) /
605
-
psmv->calibration.accel.factor.x;
605
+
psmv->calibration.accel.factor.x *
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+
MATH_GRAVITY_M_S2;
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607
psmv->read.accel.y = (ra->y - psmv->calibration.accel.bias.y) /
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-
psmv->calibration.accel.factor.y;
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+
psmv->calibration.accel.factor.y *
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+
MATH_GRAVITY_M_S2;
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psmv->read.accel.z = (ra->z - psmv->calibration.accel.bias.z) /
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-
psmv->calibration.accel.factor.z;
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+
psmv->calibration.accel.factor.z *
612
+
MATH_GRAVITY_M_S2;
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psmv->read.gyro.x = (rg->x - psmv->calibration.gyro.bias.x) /
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psmv->calibration.gyro.factor.x;