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authorStanislaw Halik <sthalik@misaki.pl>2018-08-03 07:07:10 +0200
committerStanislaw Halik <sthalik@misaki.pl>2018-08-03 05:07:40 +0000
commitbb7a4fd91a8ad870ca98454141d09ec39b937259 (patch)
treed34fefe2fd67ae37714b902fbdbadb9eed73a412 /tracker-rift-140/rift-140.cpp
parentc09e9d54535dfb08fdb26171a4eaa548a566eba4 (diff)
tracker/rift: remove old yaw spring code
Diffstat (limited to 'tracker-rift-140/rift-140.cpp')
-rw-r--r--tracker-rift-140/rift-140.cpp22
1 files changed, 6 insertions, 16 deletions
diff --git a/tracker-rift-140/rift-140.cpp b/tracker-rift-140/rift-140.cpp
index ee309ce8..839dd190 100644
--- a/tracker-rift-140/rift-140.cpp
+++ b/tracker-rift-140/rift-140.cpp
@@ -80,23 +80,13 @@ void rift_tracker_140::data(double *data)
pitch *= c_mult;
roll *= c_mult;
- double yaw_ = double(yaw);
- if (s.useYawSpring)
- {
- yaw_ = old_yaw*s.persistence + (yaw_-old_yaw);
- if(yaw_ > s.deadzone)
- yaw_ -= s.constant_drift;
- if(yaw_ < -s.deadzone)
- yaw_ += s.constant_drift;
- old_yaw = yaw_;
- }
constexpr double d2r = 180 / M_PI;
- data[Yaw] = yaw_ * -d2r;
- data[Pitch] = double(pitch) * d2r;
- data[Roll] = double(roll) * d2r;
- data[TX] = double(pose.Translation.x) * -1e2;
- data[TY] = double(pose.Translation.y) * 1e2;
- data[TZ] = double(pose.Translation.z) * 1e2;
+ data[Yaw] = double(yaw) * -d2r;
+ data[Pitch] = double(pitch) * d2r;
+ data[Roll] = double(roll) * d2r;
+ data[TX] = double(pose.Translation.x) * -1e2;
+ data[TY] = double(pose.Translation.y) * 1e2;
+ data[TZ] = double(pose.Translation.z) * 1e2;
}
}
}