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fix(Hardware Support): Fix gyro axis mapping for various handhelds #723

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fix(Hardware Support): Fix gyro axis mapping for various handhelds #723

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13 changes: 10 additions & 3 deletions rootfs/usr/share/inputplumber/devices/50-msi_claw_a8_bz2e.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -130,15 +130,22 @@ source_devices:
- Keyboard:KeyLeftBrace
- Keyboard:KeyRightBrace

## TODO: Fix in refactor, unit scale is wrong and this provides sub 0.1deg/sec of motion.
# IMU
- group: imu
iio:
name: gyro_3d
mount_matrix:
# TODO: Verify
x: [0, 1, 0]
y: [-1, 0, 0]
z: [0, 0, -1]
y: [1, 0, 0]
z: [0, 0, 1]
- group: imu
iio:
name: accel_3d
mount_matrix:
x: [0, 1, 0]
y: [1, 0, 0]
z: [0, 0, 1]

# Optional configuration for the composite device
options:
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4 changes: 4 additions & 0 deletions rootfs/usr/share/inputplumber/devices/50-onexplayer_onexfly.yaml
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Expand Up @@ -53,6 +53,10 @@ source_devices:
- group: imu
iio:
name: "{i2c-BMI0160:00,bmi260}"
mount_matrix:
x: [0, -1, 0]
y: [1, 0, 0]
z: [0, 0, -1]

# Optional configuration for the composite device
options:
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2 changes: 1 addition & 1 deletion rootfs/usr/share/inputplumber/devices/50-rog_ally.yaml
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Expand Up @@ -44,7 +44,7 @@ source_devices:
name: bmi323-imu
mount_matrix:
x: [1, 0, 0]
y: [0, -1, 0]
y: [0, 1, 0]
z: [0, 0, -1]
- group: led
udev:
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2 changes: 1 addition & 1 deletion rootfs/usr/share/inputplumber/devices/50-rog_ally_x.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@ source_devices:
name: bmi323-imu
mount_matrix:
x: [1, 0, 0]
y: [0, -1, 0]
y: [0, 1, 0]
z: [0, 0, -1]
- group: led
udev:
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4 changes: 2 additions & 2 deletions src/drivers/lego/go2_driver.rs
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Expand Up @@ -448,7 +448,7 @@ impl Driver {
events.push(Event::Axis(AxisEvent::MultiAccel(ImuAxisInput {
pitch: -(state.left_accel_x + state.right_accel_x) / 2,
roll: (state.left_accel_y + state.right_accel_y) / 2,
yaw: (state.left_accel_z + state.right_accel_z) / 2,
yaw: -(state.left_accel_z + state.right_accel_z) / 2,
})))
}
if !self
Expand Down Expand Up @@ -491,7 +491,7 @@ impl Driver {
events.push(Event::Axis(AxisEvent::MultiGyro(ImuAxisInput {
pitch: -(state.left_gyro_x + state.right_gyro_x) / 2,
roll: (state.left_gyro_y + state.right_gyro_y) / 2,
yaw: (state.left_gyro_z + state.right_gyro_z) / 2,
yaw: -(state.left_gyro_z + state.right_gyro_z) / 2,
})))
}
}
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