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Actually, we want it sans gravity.

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This commit is contained in:
Andrzej Kapolka 2013-06-11 14:25:05 -07:00
parent 4b890e2ccc
commit d913f8dec0
1 changed files with 5 additions and 4 deletions
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9
interface/src/SerialInterface.cpp
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@ -218,10 +218,6 @@ void SerialInterface::readData(float deltaTime) {
_lastAcceleration = glm::vec3(-accelXRate, -accelYRate, -accelZRate) * LSB_TO_METERS_PER_SECOND2;
_averageAcceleration = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageAcceleration +
1.f/(float)LONG_TERM_RATE_SAMPLES * _lastAcceleration;
printLog("%g %g %g\n", _averageAcceleration.x, _averageAcceleration.y, _averageAcceleration.z);
int rollRate, yawRate, pitchRate;
@ -248,6 +244,11 @@ void SerialInterface::readData(float deltaTime) {
_estimatedAcceleration = (totalSamples < GRAVITY_SAMPLES) ? glm::vec3() :
_lastAcceleration - glm::inverse(estimatedRotation) * _gravity;
_averageAcceleration = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageAcceleration +
1.f/(float)LONG_TERM_RATE_SAMPLES * _estimatedAcceleration;
printLog("%g %g %g\n", _averageAcceleration.x, _averageAcceleration.y, _averageAcceleration.z);
// Consider updating our angular velocity/acceleration to linear acceleration mapping
if (glm::length(_estimatedAcceleration) > EPSILON &&
(glm::length(_lastRotationRates) > EPSILON || glm::length(angularAcceleration) > EPSILON)) {