NeroReflex/ROGueENEMY
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fixes

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Denis 2023-11-19 03:34:27 +01:00
parent d0cd4f0052
commit c9d06035ae
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GPG key ID: DD9B63F805CF5C03
1 changed files with 3 additions and 13 deletions
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16
dev_iio.c
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@ -216,7 +216,7 @@ dev_iio_t* dev_iio_create(const char* path) {
{
char* const accel_scale = read_file(iio->path, "/in_temp_scale");
if (accel_scale != NULL) {
iio->accel_scale_x = iio->accel_scale_y = iio->accel_scale_z = strtod(accel_scale, NULL);
iio->temp_scale = strtod(accel_scale, NULL);
free((void*)accel_scale);
} else {
fprintf(stderr, "Unable to read in_accel_scale file from path %s%s.\n", iio->path, "/in_accel_scale");
@ -268,16 +268,6 @@ dev_iio_t* dev_iio_create(const char* path) {
free(tmp);
printf(
"anglvel scale: | %f | %f | %f |, accel scale: | %f | %f | %f |",
iio->anglvel_scale_x,
iio->anglvel_scale_y,
iio->anglvel_scale_z,
iio->accel_scale_x,
iio->accel_scale_y,
iio->accel_scale_z
);
dev_iio_create_err:
return iio;
}
@ -578,8 +568,8 @@ int dev_iio_read_imu(const dev_iio_t *const iio, imu_message_t *const out) {
multiplyMatrixVector(iio->mount_matrix, gyro_in, gyro_out);
multiplyMatrixVector(iio->mount_matrix, accel_in, accel_out);
memcpy(out->accel_m2s, accel_out, sizeof(double) * 3);
memcpy(out->gyro_rad_s, gyro_out, sizeof(double) * 3);
memcpy(out->accel_m2s, accel_out, sizeof(double[3]));
memcpy(out->gyro_rad_s, gyro_out, sizeof(double[3]));
return 0;
}