fix tracker sleep_ms to correctly compute overhead

1 files changed, 2 insertions, 4 deletions

diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index 7e6919a3..c96bb9b4 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -197,10 +197,8 @@ void Tracker::run() {
         libs.pTracker->data(newpose);
         logic();
 
-        double q = sleep_ms * 1000L;
-        q -= t.elapsed();
-        q = std::max(0., q);
-        usleep((long)q);
+        long q = sleep_ms * 1000L - t.elapsed()/1000L;
+        usleep(q);
     }
 
     {