From d913f8dec03e419694108416add1f3902f6666de Mon Sep 17 00:00:00 2001 From: Andrzej Kapolka Date: Tue, 11 Jun 2013 14:25:05 -0700 Subject: [PATCH] Actually, we want it sans gravity. --- interface/src/SerialInterface.cpp | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/interface/src/SerialInterface.cpp b/interface/src/SerialInterface.cpp index 8e3cddf9bb..9933ba1129 100644 --- a/interface/src/SerialInterface.cpp +++ b/interface/src/SerialInterface.cpp @@ -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)) {