Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Follow-up on the On-Chip Calibration #4735

Merged
merged 3 commits into from
Aug 27, 2019
Merged
Show file tree
Hide file tree
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions common/fw-update-helper.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -167,6 +167,8 @@ namespace rs2
else
serial = _dev.query_sensors().front().get_info(RS2_CAMERA_INFO_ASIC_SERIAL_NUMBER);

_model.related_notifications.clear();

_progress = 5;

int next_progress = 10;
Expand Down
2 changes: 1 addition & 1 deletion common/fw/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@ message(STATUS "Fetching recommended firmwares:")
string(REGEX MATCH "D4XX_RECOMMENDED_FIRMWARE_VERSION \"([0-9]+.[0-9]+.[0-9]+.[0-9]+)\"" _ ${ver})
set(D4XX_FW_VERSION ${CMAKE_MATCH_1})
message(STATUS "D4XX_FW_VERSION: ${D4XX_FW_VERSION}")
set(D4XX_FW_SHA1 0f91ab8cce99e845c1dc9c270bbbefb12a6b1521)
set(D4XX_FW_SHA1 7ae298ff3c7bb1a6afc6fe70b3ec6527adcecd73)
set(D4XX_FW_URL "http://realsense-hw-public.s3-eu-west-1.amazonaws.com/Releases/RS4xx/FW")

string(REGEX MATCH "SR3XX_RECOMMENDED_FIRMWARE_VERSION \"([0-9]+.[0-9]+.[0-9]+.[0-9]+)\"" _ ${ver})
Expand Down
2 changes: 1 addition & 1 deletion common/fw/firmware-version.h
Original file line number Diff line number Diff line change
Expand Up @@ -3,5 +3,5 @@

#pragma once

#define D4XX_RECOMMENDED_FIRMWARE_VERSION "5.11.6.250"
#define D4XX_RECOMMENDED_FIRMWARE_VERSION "5.11.14.0"
#define SR3XX_RECOMMENDED_FIRMWARE_VERSION "3.26.1.0"
2 changes: 1 addition & 1 deletion common/on-chip-calib.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -365,7 +365,7 @@ namespace rs2
0x00, 0x00, 0x00, 0x00
};
uint32_t* param2 = (uint32_t*)cmd.data() + 3;
*param2 = ground_truth;
*param2 = ground_truth * 100;
cmd.data()[16] = average_step_count;
cmd.data()[17] = step_count;
cmd.data()[18] = accuracy;
Expand Down
6 changes: 3 additions & 3 deletions common/on-chip-calib.h
Original file line number Diff line number Diff line change
Expand Up @@ -49,9 +49,9 @@ namespace rs2
void update_last_used();

uint32_t ground_truth = 2500;
int average_step_count = 1;
int step_count = 1;
int accuracy = 1;
int average_step_count = 20;
int step_count = 20;
int accuracy = 2;
bool tare = false;

void calibrate();
Expand Down
11 changes: 0 additions & 11 deletions src/ds5/ds5-motion.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -268,14 +268,6 @@ namespace librealsense
_accel_intrinsic = [this]() { return _mm_calib->get_intrinsic(RS2_STREAM_ACCEL); };
_gyro_intrinsic = [this]() { return _mm_calib->get_intrinsic(RS2_STREAM_GYRO); };

std::string motion_module_fw_version = "";
if (_fw_version >= firmware_version("5.5.8.0"))
{
std::vector<uint8_t> gvd_buff(HW_MONITOR_BUFFER_SIZE);
_hw_monitor->get_gvd(gvd_buff.size(), gvd_buff.data(), GVD);
motion_module_fw_version = _hw_monitor->get_firmware_version_string(gvd_buff, camera_fw_version_offset);
}

initialize_fisheye_sensor(ctx,group);

// D435i to use predefined values extrinsics
Expand Down Expand Up @@ -335,9 +327,6 @@ namespace librealsense
hid_ep->register_on_before_frame_callback(align_imu_axes);
}

if ((!motion_module_fw_version.empty()) && ("255.255.255.255" != motion_module_fw_version))
register_info(RS2_CAMERA_INFO_FIRMWARE_VERSION, motion_module_fw_version);

// HID metadata attributes
hid_ep->register_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP, make_hid_header_parser(&platform::hid_header::timestamp));
}
Expand Down