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Diffstat (limited to 'src/core/hid/motion_input.cpp')
| -rw-r--r-- | src/core/hid/motion_input.cpp | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/core/hid/motion_input.cpp b/src/core/hid/motion_input.cpp index 93f37b77b..c25fea966 100644 --- a/src/core/hid/motion_input.cpp +++ b/src/core/hid/motion_input.cpp @@ -73,6 +73,8 @@ void MotionInput::UpdateRotation(u64 elapsed_time) { rotations += gyro * sample_period; } +// Based on Madgwick's implementation of Mayhony's AHRS algorithm. +// https://github.com/xioTechnologies/Open-Source-AHRS-With-x-IMU/blob/master/x-IMU%20IMU%20and%20AHRS%20Algorithms/x-IMU%20IMU%20and%20AHRS%20Algorithms/AHRS/MahonyAHRS.cs void MotionInput::UpdateOrientation(u64 elapsed_time) { if (!IsCalibrated(0.1f)) { ResetOrientation(); |