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-rw-r--r--logic/tracker.cpp14
1 files changed, 11 insertions, 3 deletions
diff --git a/logic/tracker.cpp b/logic/tracker.cpp
index ffa3eff4..7f546236 100644
--- a/logic/tracker.cpp
+++ b/logic/tracker.cpp
@@ -225,6 +225,9 @@ void Tracker::logic()
}
euler_t pos = euler_t(&value[TX]) - t_center;
+
+ t_compensate(real_rotation.rot_center, pos, pos, false, false, false);
+
euler_t rot = r2d * c_mult * rmat_to_euler(rotation);
for (int i = 0; i < 3; i++)
@@ -398,9 +401,14 @@ void Tracker::run()
backlog_time += ns(elapsed_nsecs - const_sleep_ms);
- const int sleep_time_ms = iround((time_cast<ms>(clamp(const_sleep_ms - backlog_time,
- ms_::zero(), ms_(50))))
- .count());
+ const int sleep_time_ms = time_cast<ms_>(clamp(const_sleep_ms - backlog_time,
+ ms_::zero(), ms_(10))).count();
+
+#if 0
+ qDebug() << "sleepy time" << sleep_time_ms
+ << "elapsed" << time_cast<ms>(elapsed_nsecs).count()
+ << "backlog" << time_cast<ms>(backlog_time).count();
+#endif
portable::sleep(sleep_time_ms);
}