final PR fixes, changed the FW version to 5.16

maloel · Mar 17, 2024 · 89ec136 · 89ec136
1 parent 9558552
commit 89ec136
Show file tree

Hide file tree

Showing 4 changed files with 5 additions and 5 deletions.
diff --git a/src/ds/d400/d400-factory.cpp b/src/ds/d400/d400-factory.cpp
@@ -672,7 +672,7 @@ namespace librealsense
                   dev_info, d400_device::_hw_monitor, get_firmware_logs_command(), get_flash_logs_command() )
         {
             check_and_restore_rgb_stream_extrinsic();
-            if( _fw_version >= firmware_version( 5, 15, 1, 224 ) )
+            if( _fw_version >= firmware_version( 5, 16, 0, 0 ) )
                 register_feature(
                     std::make_shared< gyro_sensitivity_feature >( get_raw_motion_sensor(), get_motion_sensor() ) );
         }
@@ -1009,7 +1009,7 @@ namespace librealsense
                   dev_info, d400_device::_hw_monitor, get_firmware_logs_command(), get_flash_logs_command() )
             , d400_thermal_tracking( d400_device::_thermal_monitor )
         {
-            if( _fw_version >= firmware_version( 5, 15, 1, 224 ) )
+            if( _fw_version >= firmware_version( 5, 16, 0, 0 ) )
                 register_feature(
                     std::make_shared< gyro_sensitivity_feature >( get_raw_motion_sensor(), get_motion_sensor() ) );
         }

diff --git a/src/ds/d400/d400-motion.cpp b/src/ds/d400/d400-motion.cpp
@@ -80,7 +80,8 @@ namespace librealsense
         }
         catch (...) {}
 
-        double gyro_scale_factor = _fw_version >= firmware_version( 5, 15, 1, 224 ) ? 0.0001 : 0.1 ;
+        // For FW >=5.16 the scale factor changed to 0.0001 to support higher resolution (diff between two adjacent samples)
+        double gyro_scale_factor = _fw_version >= firmware_version( 5, 16, 0, 0 ) ? 0.0001 : 0.1 ;
 
         motion_ep->register_processing_block(
             { {RS2_FORMAT_MOTION_XYZ32F} },

diff --git a/src/ds/ds-motion-common.cpp b/src/ds/ds-motion-common.cpp
@@ -515,7 +515,7 @@ namespace librealsense
 
         //TODO this FW version is relevant for d400 devices. Need to change for propre d500 devices support.
         bool high_sensitivity = _owner->is_gyro_high_sensitivity();
-        double gyro_scale_factor = high_sensitivity ? 0.003814697265625 : ( _fw_version >= firmware_version( 5, 15, 1, 224 ) ? 0.0001: 0.1 );    
+        double gyro_scale_factor = high_sensitivity ? 0.003814697265625 : ( _fw_version >= firmware_version( 5, 16, 0, 0 ) ? 0.0001: 0.1 );    
         hid_ep->register_processing_block(
             { {RS2_FORMAT_MOTION_XYZ32F, RS2_STREAM_GYRO} },
             { {RS2_FORMAT_MOTION_XYZ32F, RS2_STREAM_GYRO} },

diff --git a/src/mf/mf-hid.cpp b/src/mf/mf-hid.cpp
@@ -167,7 +167,6 @@ namespace librealsense
                     CHECK_HR(report->GetSensorValue(SENSOR_DATA_TYPE_ANGULAR_VELOCITY_Z_DEGREES_PER_SECOND, &var));
                     rawZ = var.dblVal;
 
-                    //TODO: get scale factor from HID descriptor,then setting it from the feature will not be needed.
                     rawX *= _gyro_scale_factor;
                     rawY *= _gyro_scale_factor;
                     rawZ *= _gyro_scale_factor;