diff options
| author | Tino Liu <tino.liu@quanta.corp-partner.google.com> | 2018-11-28 17:27:59 +0800 |
|---|---|---|
| committer | chrome-bot <chrome-bot@chromium.org> | 2018-11-29 04:31:52 -0800 |
| commit | a44c0c1e92b60a992c6b3add46016557d0343ed7 (patch) | |
| tree | a4b800208e283989cea958af293c095eda8540ec | |
| parent | d10bf58755007b01e3c6eb8be2c01f16ef1d11eb (diff) | |
| download | chrome-ec-a44c0c1e92b60a992c6b3add46016557d0343ed7.tar.gz | |
Bobba: Correct comments of base rotation reference
This patch just correct comments of base accel/gyro rotation reference
for SKU with AR Cam.
There is no behavior change.
BUG=none
BRANCH=none
TEST=make buildall pass
Change-Id: Ie9a72d7bafa2c225be939a8a55a95ced89680492
Signed-off-by: Tino Liu <tino.liu@quanta.corp-partner.google.com>
Reviewed-on: https://chromium-review.googlesource.com/1351927
Tested-by: Jett Rink <jettrink@chromium.org>
Reviewed-by: Jett Rink <jettrink@chromium.org>
| -rw-r--r-- | board/bobba/board.c | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/board/bobba/board.c b/board/bobba/board.c index 8bd95b5f01..1b6ba2feec 100644 --- a/board/bobba/board.c +++ b/board/bobba/board.c @@ -133,13 +133,15 @@ const mat33_fp_t base_standard_ref = { /* * Sparky360 SKU ID 26 has AR Cam, and move base accel/gryo to AR Cam board. - * AR Cam board has about -16° bias with motherboard through Y axis. - * Rotation matrix with -16° through Y axis: - * | cos(-16°) 0 sin(-16°)| - * R = | 0 1 0 | - * |-sin(-16°) 0 cos(-16°)| + * AR Cam board has about 16° bias with motherboard through Y axis. + * Rotation matrix with 16° through Y axis: + * | cos(16°) 0 sin(16°)| | 0.96126 0 0.27564| + * R = | 0 1 0 | = | 0 1 0 | + * |-sin(16°) 0 cos(16°)| |-0.27564 0 0.96126| * - * base_ar_cam_ref = R * base_standard_ref + * |0 -0.96126 0.27564| + * base_ar_cam_ref = R * base_standard_ref = |1 0 0 | + * |0 0.27564 0.96126| */ const mat33_fp_t base_ar_cam_ref = { { 0, FLOAT_TO_FP(-0.96126), FLOAT_TO_FP(0.27564)}, |