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Do not invert gyro/accel axis

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Denis 2024-01-06 00:28:58 +01:00
parent 1a268f1333
commit 984e735d06
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2 changed files with 8 additions and 25 deletions
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25
virt_ds4.c
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@ -779,30 +779,13 @@ void virt_dualshock_compose(virt_dualshock_t *const gamepad, gamepad_status_t *c
*
* as we know sens_numer is 0, hence calib_data is zero.
*/
/*
const int16_t g_x = ((in_device_status->gyro[0]) * ((double)(180.0)/(double)(M_PI))) / (double)DS4_GYRO_RES_PER_DEG_S;
const int16_t g_y = ((in_device_status->gyro[1]) * ((double)(180.0)/(double)(M_PI))) / (double)DS4_GYRO_RES_PER_DEG_S;
const int16_t g_z = ((in_device_status->gyro[2]) * ((double)(180.0)/(double)(M_PI))) / (double)DS4_GYRO_RES_PER_DEG_S;
const int16_t a_x = ((in_device_status->accel[0]) / ((double)9.8)) / (double)DS4_ACC_RES_PER_G; // TODO: IDK how to test...
const int16_t a_y = ((in_device_status->accel[1]) / ((double)9.8)) / (double)DS4_ACC_RES_PER_G; // TODO: IDK how to test...
const int16_t a_z = ((in_device_status->accel[2]) / ((double)9.8)) / (double)DS4_ACC_RES_PER_G; // TODO: IDK how to test...
*/
/*
const int16_t g_x = (in_device_status->gyro[0]) / LSB_PER_RAD_S_2000_DEG_S;
const int16_t g_y = (in_device_status->gyro[1]) / LSB_PER_RAD_S_2000_DEG_S;
const int16_t g_z = (in_device_status->gyro[2]) / LSB_PER_RAD_S_2000_DEG_S;
const int16_t a_x = (in_device_status->accel[0]) / LSB_PER_16G; // TODO: IDK how to test...
const int16_t a_y = (in_device_status->accel[1]) / LSB_PER_16G; // TODO: IDK how to test...
const int16_t a_z = (in_device_status->accel[2]) / LSB_PER_16G; // TODO: IDK how to test...
*/
const int16_t g_x = in_device_status->raw_gyro[0];
const int16_t g_y = (int16_t)(-1) * in_device_status->raw_gyro[1]; // Swap Y and Z
const int16_t g_z = (int16_t)(-1) * in_device_status->raw_gyro[2]; // Swap Y and Z
const int16_t g_y = in_device_status->raw_gyro[1]; // Swap Y and Z
const int16_t g_z = in_device_status->raw_gyro[2]; // Swap Y and Z
const int16_t a_x = in_device_status->raw_accel[0];
const int16_t a_y = (int16_t)(-1) * in_device_status->raw_accel[1]; // Swap Y and Z
const int16_t a_z = (int16_t)(-1) * in_device_status->raw_accel[2]; // Swap Y and Z
const int16_t a_y = in_device_status->raw_accel[1]; // Swap Y and Z
const int16_t a_z = in_device_status->raw_accel[2]; // Swap Y and Z
out_buf[0] = gamepad->bluetooth ? DS4_INPUT_REPORT_BT : DS4_INPUT_REPORT_USB; // [00] report ID (0x01)

8
virt_ds5.c
View file

@ -1429,11 +1429,11 @@ void virt_dualsense_compose(virt_dualsense_t *const gamepad, gamepad_status_t *c
const uint32_t timestamp = sim_time + (int)((double)gamepad->empty_reports * DS5_SPEC_DELTA_TIME);
const int16_t g_x = in_device_status->raw_gyro[0];
const int16_t g_y = (int16_t)(-1) * in_device_status->raw_gyro[1]; // Swap Y and Z
const int16_t g_z = (int16_t)(-1) * in_device_status->raw_gyro[2]; // Swap Y and Z
const int16_t g_y = in_device_status->raw_gyro[1]; // Swap Y and Z
const int16_t g_z = in_device_status->raw_gyro[2]; // Swap Y and Z
const int16_t a_x = in_device_status->raw_accel[0];
const int16_t a_y = (int16_t)(-1) * in_device_status->raw_accel[1]; // Swap Y and Z
const int16_t a_z = (int16_t)(-1) * in_device_status->raw_accel[2]; // Swap Y and Z
const int16_t a_y = in_device_status->raw_accel[1]; // Swap Y and Z
const int16_t a_z = in_device_status->raw_accel[2]; // Swap Y and Z
out_buf[0] = gamepad->bluetooth ? DS_INPUT_REPORT_BT : DS_INPUT_REPORT_USB; // [00] report ID (0x01)