revert because changes made in merge SlimeVR#305

wigwagwent · Dec 1, 2023 · 6a0b472 · 6a0b472
1 parent e1a5bbe
commit 6a0b472
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/src/sensors/SensorFusion.cpp b/src/sensors/SensorFusion.cpp
@@ -173,9 +173,9 @@ namespace SlimeVR
 
         void SensorFusion::calcLinearAcc(const sensor_real_t accin[3], const sensor_real_t gravVec[3], sensor_real_t accout[3])
         {
-            accout[0] = (accin[0] - gravVec[0]) * CONST_EARTH_GRAVITY;
-            accout[1] = (accin[1] - gravVec[1]) * CONST_EARTH_GRAVITY;
-            accout[2] = (accin[2] - gravVec[2]) * CONST_EARTH_GRAVITY;
+            accout[0] = accin[0] - gravVec[0] * CONST_EARTH_GRAVITY;
+            accout[1] = accin[1] - gravVec[1] * CONST_EARTH_GRAVITY;
+            accout[2] = accin[2] - gravVec[2] * CONST_EARTH_GRAVITY;
         }
     }
 }
diff --git a/src/sensors/SensorFusionRestDetect.cpp b/src/sensors/SensorFusionRestDetect.cpp
@@ -8,14 +8,14 @@ namespace SlimeVR
         void SensorFusionRestDetect::updateAcc(sensor_real_t Axyz[3], sensor_real_t deltat)
         {
             if (deltat < 0) deltat = accTs;
-            restDetection.updateAcc(deltat * 1e6, Axyz);
+            restDetection.updateAcc(deltat, Axyz);
             SensorFusion::updateAcc(Axyz, deltat);
         }
 
         void SensorFusionRestDetect::updateGyro(sensor_real_t Gxyz[3], sensor_real_t deltat)
         {
             if (deltat < 0) deltat = gyrTs;
-            restDetection.updateGyr(deltat * 1e6, Gxyz);
+            restDetection.updateGyr(deltat, Gxyz);
             SensorFusion::updateGyro(Gxyz, deltat);
         }
         #endif

diff --git a/src/sensors/bmi160sensor.cpp b/src/sensors/bmi160sensor.cpp
@@ -548,7 +548,7 @@ void BMI160Sensor::onAccelRawSample(uint32_t dtMicros, int16_t x, int16_t y, int
     lastAxyz[1] = Axyz[1];
     lastAxyz[2] = Axyz[2];
 
-    sfusion.updateAcc(Axyz, (double)dtMicros * 1.0e-6);
+    sfusion.updateAcc(Axyz, dtMicros);
 
     optimistic_yield(100);
 }