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Fix imu report (linear acceleration and angular velocity) #168

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Fix imu report (linear acceleration and angular velocity) #168

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aa91813
Fix IMU report
naoki-mizuno Aug 25, 2019
7e5f220
Rename field names to prevent misunderstanding
naoki-mizuno Aug 25, 2019
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18 changes: 9 additions & 9 deletions ds4drv/device.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,12 +41,12 @@ class DS4Report(object):
"button_options",
"button_trackpad",
"button_ps",
"motion_y",
"motion_x",
"motion_z",
"orientation_roll",
"orientation_yaw",
"orientation_pitch",
"ang_vel_x",
"ang_vel_y",
"ang_vel_z",
"lin_acc_x",
"lin_acc_y",
"lin_acc_z",
"trackpad_touch0_id",
"trackpad_touch0_active",
"trackpad_touch0_x",
Expand Down Expand Up @@ -181,13 +181,13 @@ def parse_report(self, buf):
# Trackpad and PS buttons
(buf[7] & 2) != 0, (buf[7] & 1) != 0,

# Acceleration
# Angular velocity
S16LE.unpack_from(buf, 13)[0],
S16LE.unpack_from(buf, 15)[0],
S16LE.unpack_from(buf, 17)[0],

# Orientation
-(S16LE.unpack_from(buf, 19)[0]),
# Linear acceleration
S16LE.unpack_from(buf, 19)[0],
S16LE.unpack_from(buf, 21)[0],
S16LE.unpack_from(buf, 23)[0],

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12 changes: 6 additions & 6 deletions ds4drv/uinput.py
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Original file line number Diff line number Diff line change
Expand Up @@ -72,12 +72,12 @@ def create_mapping(name, description, bustype=0, vendor=0, product=0,
"ABS_RZ": "right_analog_y",
"ABS_RX": "l2_analog",
"ABS_RY": "r2_analog",
"ABS_THROTTLE": "orientation_roll",
"ABS_RUDDER": "orientation_pitch",
"ABS_WHEEL": "orientation_yaw",
"ABS_DISTANCE": "motion_z",
"ABS_TILT_X": "motion_x",
"ABS_TILT_Y": "motion_y",
"ABS_THROTTLE": "ang_vel_x",
"ABS_RUDDER": "ang_vel_y",
"ABS_WHEEL": "ang_vel_z",
"ABS_DISTANCE": "lin_acc_z",
"ABS_TILT_X": "lin_acc_x",
"ABS_TILT_Y": "lin_acc_y",
},
# Axes options
{
Expand Down