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Optimize gyro calculation

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wheremyfoodat 2024-08-14 23:41:48 +03:00
parent 520e00c553
commit ff7e0f9ca8
1 changed files with 5 additions and 8 deletions
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13
include/sdl_gyro.hpp
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@ -8,13 +8,10 @@
namespace Gyro::SDL {
// Convert the rotation data we get from SDL sensor events to rotation data we can feed right to HID
// Returns [pitch, roll, yaw]
static glm::vec3 convertRotation(glm::vec3 rotation) {
// Flip axes
glm::vec3 ret = -rotation;
// Convert from radians/s to deg/s and scale by the gyroscope coefficient from the HID service
ret *= 180.f / std::numbers::pi;
ret *= HIDService::gyroscopeCoeff;
return ret;
static glm::vec3 convertRotation(glm::vec3 rotation) {
// Convert the rotation from rad/s to deg/s and scale by the gyroscope coefficient in HID
constexpr float scale = 180.f / std::numbers::pi * HIDService::gyroscopeCoeff;
// The axes are also inverted, so invert scale before the multiplication.
return rotation * -scale;
}
} // namespace Gyro::SDL