fix PR comments

IntelRealSense · Mar 26, 2024 · 1515c51 · 1515c51
1 parent 541f95e
commit 1515c51
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Showing 3 changed files with 6 additions and 3 deletions.
diff --git a/src/ds/ds-motion-common.cpp b/src/ds/ds-motion-common.cpp
@@ -507,7 +507,7 @@ namespace librealsense
         }
         catch (...) {}
 
-        bool high_accuracy =  _fw_version >= firmware_version( 5, 16, 0, 0 ) ? true : false ;    
+        bool high_accuracy =  _fw_version >= firmware_version( 5, 16, 0, 0 );    
         hid_ep->register_processing_block(
             { {RS2_FORMAT_MOTION_XYZ32F, RS2_STREAM_ACCEL} },
             { {RS2_FORMAT_MOTION_XYZ32F, RS2_STREAM_ACCEL} },

diff --git a/src/proc/motion-transform.cpp b/src/proc/motion-transform.cpp
@@ -25,7 +25,7 @@ namespace librealsense
             if( ! high_accuracy )
             {
                 //since D400 FW version 5.16 the hid report struct changed to 32 bit for each paramater.
-                //To support older FW versions we convert the data to int16_t before casting to float.
+                //To support older FW versions we convert the data to int16_t before casting to float as we only get valid data at the lower 16  bits.
                 hid->x = static_cast< int16_t >( hid->x );
                 hid->y = static_cast< int16_t >( hid->y );
                 hid->z = static_cast< int16_t >( hid->z );
@@ -37,7 +37,7 @@ namespace librealsense
         {
             auto hid = (hid_data*)(source);
             //since D400 FW version 5.16 the hid report struct changed to 32 bit for each paramater.
-            //To support older FW versions we convert the data to int16_t before casting to float.
+            //To support older FW versions we convert the data to int16_t before casting to float as we only get valid data at the lower 16  bits.
             if( ! high_accuracy )
             {
                 hid->x = static_cast< int16_t >( hid->x );
@@ -68,6 +68,8 @@ namespace librealsense
                            double gyro_scale_factor = 0.1, bool is_mipi = false )
     {
         const double gyro_transform_factor = deg2rad( gyro_scale_factor );
+        //high_accuracy=true when gyro_scale_factor=0.001 for FW version >=5.16 
+        //high_accuracy=false when gyro_scale_factor=0.01 for FW version <5.16
         double high_accuracy = ( gyro_scale_factor != 0.1 );
         copy_hid_axes< FORMAT >( dest, source, gyro_transform_factor, high_accuracy, is_mipi );
     }

diff --git a/src/proc/motion-transform.h b/src/proc/motion-transform.h
@@ -69,6 +69,7 @@ namespace librealsense
                                 std::shared_ptr< enable_motion_correction > mm_correct_opt,
                                 bool high_accuracy );
         void process_function( uint8_t * const dest[], const uint8_t * source, int width, int height, int actual_size, int input_size) override;
+        //To be refactored and change to accel_scale_factor once we implement sensitivity feature for the accel like the gyro
         bool _high_accuracy = false;
 
     };