From 13d127035b4f8d640dec291febaedbff45d2ff42 Mon Sep 17 00:00:00 2001 From: Jakob Bornecrantz Date: Fri, 23 Apr 2021 18:25:39 +0100 Subject: [PATCH] d/wmr: Remove raw_accel and raw_gyro fields (NFC) --- src/xrt/drivers/wmr/wmr_hmd.c | 13 ++++++++----- src/xrt/drivers/wmr/wmr_hmd.h | 3 --- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/xrt/drivers/wmr/wmr_hmd.c b/src/xrt/drivers/wmr/wmr_hmd.c index fa4e7a54e..d7d65f44a 100644 --- a/src/xrt/drivers/wmr/wmr_hmd.c +++ b/src/xrt/drivers/wmr/wmr_hmd.c @@ -148,17 +148,20 @@ hololens_sensors_read_packets(struct wmr_hmd *wh) hololens_sensors_decode_packet(wh, &wh->packet, buffer, size); for (int i = 0; i < 4; i++) { - vec3_from_hololens_gyro(wh->packet.gyro, i, &wh->raw_gyro); - vec3_from_hololens_accel(wh->packet.accel, i, &wh->raw_accel); + struct xrt_vec3 raw_gyro; + struct xrt_vec3 raw_accel; + + vec3_from_hololens_gyro(wh->packet.gyro, i, &raw_gyro); + vec3_from_hololens_accel(wh->packet.accel, i, &raw_accel); os_mutex_lock(&wh->fusion.mutex); wh->fusion.last_imu_timestamp_ns = now_ns; - wh->fusion.last_angular_velocity = wh->raw_gyro; + wh->fusion.last_angular_velocity = raw_gyro; m_imu_3dof_update( // &wh->fusion.i3dof, // wh->packet.gyro_timestamp[i] * WMR_MS_HOLOLENS_NS_PER_TICK, // - &wh->raw_accel, // - &wh->raw_gyro); // + &raw_accel, // + &raw_gyro); // os_mutex_unlock(&wh->fusion.mutex); } break; diff --git a/src/xrt/drivers/wmr/wmr_hmd.h b/src/xrt/drivers/wmr/wmr_hmd.h index 5a6df1cff..9469d3bad 100644 --- a/src/xrt/drivers/wmr/wmr_hmd.h +++ b/src/xrt/drivers/wmr/wmr_hmd.h @@ -69,9 +69,6 @@ struct wmr_hmd struct hololens_sensors_packet packet; - struct xrt_vec3 raw_accel; - struct xrt_vec3 raw_gyro; - struct { //! Protects all members of the `fusion` substruct.