From: Paul Hänsch <paul@plutz.net>
Date: Fri, 29 Dec 2023 21:58:29 +0000 (+0100)
Subject: improved yaw calculation
X-Git-Url: https://git.plutz.net/?p=serve0;a=commitdiff_plain;h=8f4a82221dc72c6571048246497cebfba6bf063f

improved yaw calculation
---

diff --git a/stereoview.js b/stereoview.js
index 3b0faa7..d2c4ec5 100644
--- a/stereoview.js
+++ b/stereoview.js
@@ -131,9 +131,13 @@ function stereoview(layout, video) {
 
       pitch =   Math.asin((tz / 9.81 > 1)?1:(tz/9.81)) / Math.PI * 180;
       roll  = - Math.asin((ty / 9.81 > 1)?1:(ty/9.81)) / Math.PI * 180;
+      yaw   = pitch ? ( yaw
+              - event.rotationRate.alpha / 1000 * event.interval * Math.cos(pitch * Math.PI / 180)
+              - event.rotationRate.gamma / 1000 * event.interval * Math.sin(pitch * Math.PI / 180)
+            ) % 360 : yaw;
+
       // pitch = (pitch + event.rotationRate.beta  / 1000 * event.interval) % 360;
       // roll  = (roll  + event.rotationRate.gamma / 1000 * event.interval) % 360;
-      yaw   = (yaw   - event.rotationRate.alpha / 1000 * event.interval) % 360;
       // yaw   = (yaw + ty) % 360;
     };
   })());