The bias for the gyroscope is not used correctly. The sensor bias
needs to be used in calculation of the 'sensivity' instead of being
an offset.
In practice this has little input on the values as the bias values
tends to be small (+/- 20).
Signed-off-by: Roderick Colenbrander <roderick.colenbrander@xxxxxxxx>
---
drivers/hid/hid-playstation.c | 18 ++++++++++--------
1 file changed, 10 insertions(+), 8 deletions(-)
diff --git a/drivers/hid/hid-playstation.c b/drivers/hid/hid-playstation.c
index 1001eab6ff75..8ac8f7b8e317 100644
--- a/drivers/hid/hid-playstation.c
+++ b/drivers/hid/hid-playstation.c
@@ -993,19 +993,22 @@ static int dualsense_get_calibration_data(struct dualsense *ds)
*/
speed_2x = (gyro_speed_plus + gyro_speed_minus);
ds->gyro_calib_data[0].abs_code = ABS_RX;
- ds->gyro_calib_data[0].bias = gyro_pitch_bias;
+ ds->gyro_calib_data[0].bias = 0;
ds->gyro_calib_data[0].sens_numer = speed_2x*DS_GYRO_RES_PER_DEG_S;
- ds->gyro_calib_data[0].sens_denom = gyro_pitch_plus - gyro_pitch_minus;
+ ds->gyro_calib_data[0].sens_denom = abs(gyro_pitch_plus - gyro_pitch_bias) +
+ abs(gyro_pitch_minus - gyro_pitch_bias);
ds->gyro_calib_data[1].abs_code = ABS_RY;
- ds->gyro_calib_data[1].bias = gyro_yaw_bias;
+ ds->gyro_calib_data[1].bias = 0;
ds->gyro_calib_data[1].sens_numer = speed_2x*DS_GYRO_RES_PER_DEG_S;
- ds->gyro_calib_data[1].sens_denom = gyro_yaw_plus - gyro_yaw_minus;
+ ds->gyro_calib_data[1].sens_denom = abs(gyro_yaw_plus - gyro_yaw_bias) +
+ abs(gyro_yaw_minus - gyro_yaw_bias);
ds->gyro_calib_data[2].abs_code = ABS_RZ;
- ds->gyro_calib_data[2].bias = gyro_roll_bias;
+ ds->gyro_calib_data[2].bias = 0;
ds->gyro_calib_data[2].sens_numer = speed_2x*DS_GYRO_RES_PER_DEG_S;
- ds->gyro_calib_data[2].sens_denom = gyro_roll_plus - gyro_roll_minus;
+ ds->gyro_calib_data[2].sens_denom = abs(gyro_roll_plus - gyro_roll_bias) +
+ abs(gyro_roll_minus - gyro_roll_bias);
/*
* Sanity check gyro calibration data. This is needed to prevent crashes
@@ -1388,8 +1391,7 @@ static int dualsense_parse_report(struct ps_device *ps_dev, struct hid_report *r
for (i = 0; i < ARRAY_SIZE(ds_report->gyro); i++) {
int raw_data = (short)le16_to_cpu(ds_report->gyro[i]);
int calib_data = mult_frac(ds->gyro_calib_data[i].sens_numer,
- raw_data - ds->gyro_calib_data[i].bias,
- ds->gyro_calib_data[i].sens_denom);
+ raw_data, ds->gyro_calib_data[i].sens_denom);
input_report_abs(ds->sensors, ds->gyro_calib_data[i].abs_code, calib_data);
}
--
2.38.1
