Fix imu report (linear acceleration and angular velocity)#168
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naoki-mizuno wants to merge 2 commits into
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Fix imu report (linear acceleration and angular velocity)#168naoki-mizuno wants to merge 2 commits into
naoki-mizuno wants to merge 2 commits into
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The order of acceleration and angular velocity fields are fixed so the reported values are correct. The axis orientation is positive X pointing right, positive Y pointing up, and positive Z pointing towards the user. For the angular velocities, the following convention is used for the names (following the right thumb rule): Roll: rotation around X axis Pitch: rotation around Y axis Yaw: rotation around Z axis The code has been tested by checking that the sign of the values are consistent with the axis orientation when translating/rotating the device. References: - https://gamedev.stackexchange.com/a/87178 - http://eleccelerator.com/wiki/index.php?title=DualShock_4#Report_Structure
The roll-pitch-yaw convention differs among industries, thus, is better to explicitly state the axis which rotation is considered. The field names also explicitly states that the values are "angular velocity" and "linear acceleration," as opposed to "orientation" and "motion," which are ambiguous (and technically incorrect).
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I've noticed that the linear acceleration and angular velocity reported from the device is incorrect. I looked into this problem and found that the order of fields were incorrect. With this PR the linear acceleration and angular velocity become consistent.
The following axis orientation is used (since I couldn't find any specific convention used in the code):
X: points to the right
Y: points up
Z: points towards the person holding the device
If needed I can post plots that I used to confirm that the fix is indeed consistent with the axis orientation above.
The following websites were references: