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| author | Lioncash <mathew1800@gmail.com> | 2020-10-14 08:51:14 +0200 |
|---|---|---|
| committer | Lioncash <mathew1800@gmail.com> | 2020-10-16 01:37:51 +0200 |
| commit | 046c0c91a3ed665531f20955e7cfb86fe5b73213 (patch) | |
| tree | 94382af9cc339cf5f384f4d0c8938dd593b4e1c5 /src/input_common/motion_input.h | |
| parent | Merge pull request #4787 from lioncash/conversion (diff) | |
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Diffstat (limited to 'src/input_common/motion_input.h')
| -rw-r--r-- | src/input_common/motion_input.h | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/input_common/motion_input.h b/src/input_common/motion_input.h index 6342d0318..abb957f04 100644 --- a/src/input_common/motion_input.h +++ b/src/input_common/motion_input.h @@ -22,7 +22,7 @@ public: MotionInput& operator=(MotionInput&&) = default; void SetAcceleration(const Common::Vec3f& acceleration); - void SetGyroscope(const Common::Vec3f& acceleration); + void SetGyroscope(const Common::Vec3f& gyroscope); void SetQuaternion(const Common::Quaternion<f32>& quaternion); void SetGyroDrift(const Common::Vec3f& drift); void SetGyroThreshold(f32 threshold); @@ -49,16 +49,16 @@ private: void SetOrientationFromAccelerometer(); // PID constants - const f32 kp; - const f32 ki; - const f32 kd; + f32 kp; + f32 ki; + f32 kd; // PID errors Common::Vec3f real_error; Common::Vec3f integral_error; Common::Vec3f derivative_error; - Common::Quaternion<f32> quat; + Common::Quaternion<f32> quat{{0.0f, 0.0f, -1.0f}, 0.0f}; Common::Vec3f rotations; Common::Vec3f accel; Common::Vec3f gyro; |