Fix 90 deg offset

Author: Chris Hold

src/gui/qopenglplotter.cpp

@@ -383,7 +383,9 @@ void ssr::QOpenGLPlotter::_draw_reference()
     glTranslatef(0.03f, -0.03f, 0.0f);
 
     // rotate according to reference offset position
-    glRotatef(90.0f + _scene.get_reference_offset().orientation.azimuth, 0.0f, 0.0f, 1.0f);
+    glRotatef(_scene.get_reference().orientation.azimuth +
+              _scene.get_reference_offset().orientation.azimuth,
+              0.0f, 0.0f, 1.0f);
 
     glBindTexture(GL_TEXTURE_2D, _listener_shadow_texture);
 
@@ -397,7 +399,9 @@ void ssr::QOpenGLPlotter::_draw_reference()
     glPopMatrix();
 
     // rotate according to reference offset position
-    glRotatef(90.0f + _scene.get_reference_offset().orientation.azimuth, 0.0f, 0.0f, 1.0f);
+    glRotatef(_scene.get_reference().orientation.azimuth +
+              _scene.get_reference_offset().orientation.azimuth,
+              0.0f, 0.0f, 1.0f);
 
     glBindTexture(GL_TEXTURE_2D, _listener_texture);
 

src/gui/quserinterface.cpp

@@ -993,8 +993,8 @@ void ssr::QUserInterface::mouseMoveEvent(QMouseEvent *event)
     // previous position relative to relative position offset
     prev_mouse_pos -= _scene.get_reference_offset().position;
 
-    _controller.take_control()->reference_offset_rotation(_scene.get_reference_offset().rotate(90.0f).orientation +
-                                          (mouse_pos.orientation() - prev_mouse_pos.orientation()));
+    _controller.take_control()->reference_offset_rotation(_scene.get_reference_offset().orientation +
+                                                          (mouse_pos.orientation() - prev_mouse_pos.orientation()));
 
   } // else if
 

src/legacy_scene.h

@@ -388,7 +388,7 @@ class LegacyScene : public api::SceneControlEvents
     void reference_offset_rotation(const Rot& rotation) override
     {
       Orientation orientation(rotation);
-      orientation.azimuth -= 90.0f;  // Undo angle conversion offset
+      // orientation.azimuth -= 90.0f;  // Undo angle conversion offset
       _reference_offset.orientation = orientation;
     }
 

src/rendersubscriber.h

@@ -186,7 +186,7 @@ class RenderSubscriber : public api::BundleEvents
     Orientation orientation{rot};
     // For backwards compatibility, 90 degrees are added when converting to
     // Orientation.  This, however, should not be done for the reference offset.
-    orientation.azimuth -= 90.0f;
+    // orientation.azimuth -= 90.0f;
     _renderer.state.reference_offset_orientation = orientation;
     _reference_offset_rotation = rot;
   }

src/trackerintersense.cpp

@@ -193,12 +193,12 @@ void* ssr::TrackerInterSense::thread(void *arg)
     ISD_GetTrackingData(_tracker_h, &tracker_data);
     _controller.take_control()->reference_offset_rotation(
         Orientation(-tracker_data.Station[0].Euler[0]
-           + 90.0f + 90.0f));
+           + 90.0f));
 #else
     ISD_GetData(_tracker_h, &tracker_data);
     _controller.take_control()->reference_offset_rotation(
         Orientation(-static_cast<float>(tracker_data.Station[0].Orientation[0])
-           + 90.0f + 90.0f));
+           + 90.0f));
 #endif
 
     // wait a bit

src/trackerpolhemus.cpp

@@ -301,7 +301,7 @@ ssr::TrackerPolhemus::thread(void *arg)
               >> _current_data.roll;
 
     _controller.take_control()->reference_offset_rotation(
-        Orientation(-_current_data.azimuth + _az_corr + 90.0f));
+        Orientation(-_current_data.azimuth + _az_corr));
   };
   return arg;
 }

src/trackerrazor.cpp

@@ -35,7 +35,7 @@ ssr::TrackerRazor::TrackerRazor(api::Publisher& controller
   : Tracker()
   , _controller(controller)
   , _current_azimuth(0.0f)
-  , _az_corr(90.0f)
+  , _az_corr(0.0f)
   , _init_az_corr(true)
   , _tracker(nullptr)
 {

src/trackerrazor.h

@@ -74,7 +74,7 @@ class TrackerRazor : public Tracker
         _init_az_corr = false;
       }
       _controller.take_control()->reference_offset_rotation(
-          Orientation(-_current_azimuth + _az_corr + 90.0f));
+          Orientation(-_current_azimuth + _az_corr));
     }
     void on_error(const std::string &msg) { ERROR("Razor AHRS: " << msg); }
 

src/trackervrpn.cpp

@@ -142,5 +142,5 @@ ssr::TrackerVrpn::vrpn_change_handler(const vrpn_TRACKERCB t)
 
   _current_azimuth = azi;
   _controller.take_control()->reference_offset_rotation(
-      Orientation(-azi + _az_corr + 90.0f));
+      Orientation(-azi + _az_corr));
 }