From 9748bb67e7e83dd88b3f1776d4bee14e94776b0c Mon Sep 17 00:00:00 2001 From: noacoohen Date: Tue, 2 Apr 2024 15:29:26 +0300 Subject: [PATCH 1/2] fix wrong gyro values --- src/proc/motion-transform.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/proc/motion-transform.cpp b/src/proc/motion-transform.cpp index a376a9d46b..edb500c915 100644 --- 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 or 0.003814697265625 for HKR, for FW version <5.16 + bool high_accuracy = ( gyro_scale_factor == 0.0001 ); copy_hid_axes< FORMAT >( dest, source, gyro_transform_factor, high_accuracy, is_mipi ); } From efdd02dea5ef02e9835f2764c8a82564feed98c1 Mon Sep 17 00:00:00 2001 From: noacoohen Date: Tue, 2 Apr 2024 15:53:00 +0300 Subject: [PATCH 2/2] edit the comment --- src/proc/motion-transform.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/proc/motion-transform.cpp b/src/proc/motion-transform.cpp index edb500c915..f7835ec73e 100644 --- a/src/proc/motion-transform.cpp +++ b/src/proc/motion-transform.cpp @@ -67,7 +67,7 @@ namespace librealsense { const double gyro_transform_factor = deg2rad( gyro_scale_factor ); //high_accuracy=true when gyro_scale_factor=0.0001 for FW version >=5.16 - //high_accuracy=false when gyro_scale_factor=0.1 or 0.003814697265625 for HKR, 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 ); }