github/SlimeVR-Tracker-ESP
1
1
Fork 0
mirror of https://github.com/SlimeVR/SlimeVR-Tracker-ESP.git synced 2026-04-06 02:01:57 +02:00
Code Issues 76 Packages Projects Releases Wiki Activity

Merge pull request #123 from doormatt-dev/main

Browse Source 
Startup calibration fixed
This commit is contained in:
Eiren Rain
2022-03-21 15:43:01 +02:00
committed by GitHub
parent cd5b5abf05 49681986ac
commit 86f0fd8bc2
1 changed files with 10 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
src/sensors/mpu6050sensor.cpp
View File

@@ -142,7 +142,7 @@ void MPU6050Sensor::startCalibration(int calibrationType) {
Network::sendCalibrationFinished(CALIBRATION_TYPE_INTERNAL_ACCEL, 0);
break;
case CALIBRATION_TYPE_INTERNAL_GYRO:
Network::sendCalibrationFinished(CALIBRATION_TYPE_INTERNAL_ACCEL, 0);
Network::sendCalibrationFinished(CALIBRATION_TYPE_INTERNAL_GYRO, 0);//was CALIBRATION_TYPE_INTERNAL_GYRO for some reason? there wasn't a point to this switch
break;
}
LEDManager::off(CALIBRATING_LED);
@@ -164,24 +164,24 @@ void MPU6050Sensor::startCalibration(int calibrationType) {
{
case CALIBRATION_TYPE_INTERNAL_ACCEL:
imu.CalibrateAccel(10);
sendCalibrationFinished(CALIBRATION_TYPE_INTERNAL_ACCEL, 0, PACKET_RAW_CALIBRATION_DATA);
config->calibration.A_B[0] = imu.getXAccelOffset();
config->calibration.A_B[1] = imu.getYAccelOffset();
config->calibration.A_B[2] = imu.getZAccelOffset();
Network::sendCalibrationFinished(CALIBRATION_TYPE_INTERNAL_ACCEL, 0);//doesn't send calibration data anymore, has that been depricated in server?
config->calibration->A_B[0] = imu.getXAccelOffset();
config->calibration->A_B[1] = imu.getYAccelOffset();
config->calibration->A_B[2] = imu.getZAccelOffset();
saveConfig();
break;
case CALIBRATION_TYPE_INTERNAL_GYRO:
imu.CalibrateGyro(10);
sendCalibrationFinished(CALIBRATION_TYPE_INTERNAL_ACCEL, 0, PACKET_RAW_CALIBRATION_DATA);
config->calibration.G_off[0] = imu.getXGyroOffset();
config->calibration.G_off[1] = imu.getYGyroOffset();
config->calibration.G_off[2] = imu.getZGyroOffset();
Network::sendCalibrationFinished(CALIBRATION_TYPE_INTERNAL_GYRO, 0);//doesn't send calibration data anymore
config->calibration->G_off[0] = imu.getXGyroOffset();
config->calibration->G_off[1] = imu.getYGyroOffset();
config->calibration->G_off[2] = imu.getZGyroOffset();
saveConfig();
break;
}
m_Logger.info("Calibration finished");
LEDMGR::off(CALIBRATING_LED);
LEDManager::off(CALIBRATING_LED);
#endif // !IMU_MPU6050_RUNTIME_CALIBRATION
}