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Diffstat (limited to '')
| -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; |