+ float x, y, z;
+ float near_zero;
+
+ switch (sensor_info[s].type) {
+ case SENSOR_TYPE_GYROSCOPE:
+ x = data->data[0];
+ y = data->data[1];
+ z = data->data[2];
+ break;
+
+ case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
+ x = data->data[0] - data->uncalibrated_gyro.bias[0];
+ y = data->data[1] - data->uncalibrated_gyro.bias[1];
+ z = data->data[2] - data->uncalibrated_gyro.bias[2];
+ break;
+
+ default:
+ return;
+ }
+
+ /* If we're calibrated, don't filter out as much */
+ if (sensor_info[s].cal_level > 0)
+ near_zero = 0.02; /* rad/s */
+ else
+ near_zero = 0.1;
+
+ /* If motion on all axes is small enough */
+ if (fabs(x) < near_zero && fabs(y) < near_zero && fabs(z) < near_zero) {
+
+ /*
+ * Report that we're not moving at all... but not exactly zero
+ * as composite sensors (orientation, rotation vector) don't
+ * seem to react very well to it.
+ */
+ switch (sensor_info[s].type) {
+ case SENSOR_TYPE_GYROSCOPE:
+ data->data[0] *= 0.000001;
+ data->data[1] *= 0.000001;
+ data->data[2] *= 0.000001;
+ break;
+
+ case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
+ data->data[0]= data->uncalibrated_gyro.bias[0]
+ + 0.000001 * x;
+ data->data[1]= data->uncalibrated_gyro.bias[1]
+ + 0.000001 * y;
+ data->data[2]= data->uncalibrated_gyro.bias[2]
+ + 0.000001 * z;
+ break;
+ }
+ }
+}
+