Fixed acc scaleing; soft lightcap integration
@@ -173,7 +173,7 @@ void survive_kalman_tracker_integrate_light(SurviveKalmanTracker *tracker, Poser
.pdl = data,
};
- bool ramp_in = tracker->stats.obs_count < 1000;
+ bool ramp_in = tracker->stats.lightcap_count < 1000;
FLT light_var = tracker->light_var;
if (ramp_in) {
FLT var_add = tracker->obs_pos_var / (tracker->stats.obs_count);
@@ -268,7 +268,7 @@ void survive_kalman_tracker_integrate_imu(SurviveKalmanTracker *tracker, PoserDa
SurviveContext *ctx = tracker->so->ctx;
FLT norm = 1. / norm3d(data->accel);
- FLT w = SurviveSensorActivations_stationary_time(&tracker->so->activations) > .1 ? .9 : .01;
+ FLT w = SurviveSensorActivations_stationary_time(&tracker->so->activations) > .1 ? .9 : 0.0;
tracker->acc_scale *= 1. - w;
tracker->acc_scale += w * norm;
