PR #12817 from noacoohen: fix wrong gyro values

IntelRealSense · Apr 2, 2024 · 55cd4be · 55cd4be
2 parents 052cc57 + efdd02d
commit 55cd4be
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/proc/motion-transform.cpp b/src/proc/motion-transform.cpp
@@ -66,9 +66,9 @@ 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 );
+        //high_accuracy=true when gyro_scale_factor=0.0001 for FW version >=5.16 
+        //high_accuracy=false when gyro_scale_factor=0.1 for FW version <5.16 or 0.003814697265625 for HKR
+        bool high_accuracy = ( gyro_scale_factor == 0.0001 );
         copy_hid_axes< FORMAT >( dest, source, gyro_transform_factor, high_accuracy, is_mipi );
     }