Commit d3eb48ad authored by Jakob Bornecrantz's avatar Jakob Bornecrantz
Browse files

d/psmv: Normalize acceleration to gravity

parent 1bcf5377
......@@ -602,11 +602,14 @@ update_fusion(struct psmv_device *psmv,
struct xrt_vec3_i32 *rg = &sample->gyro;
psmv->read.accel.x = (ra->x - psmv->calibration.accel.bias.x) /
psmv->calibration.accel.factor.x;
psmv->calibration.accel.factor.x *
MATH_GRAVITY_M_S2;
psmv->read.accel.y = (ra->y - psmv->calibration.accel.bias.y) /
psmv->calibration.accel.factor.y;
psmv->calibration.accel.factor.y *
MATH_GRAVITY_M_S2;
psmv->read.accel.z = (ra->z - psmv->calibration.accel.bias.z) /
psmv->calibration.accel.factor.z;
psmv->calibration.accel.factor.z *
MATH_GRAVITY_M_S2;
psmv->read.gyro.x = (rg->x - psmv->calibration.gyro.bias.x) /
psmv->calibration.gyro.factor.x;
......
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