From ad406b1df229e4d5634187b919eb498814131fdd Mon Sep 17 00:00:00 2001
From: TinyO <tinysilk@hotmail.com>
Date: Mon, 28 Oct 2019 09:34:56 +0800
Subject: [PATCH] fix(imu): issue of rnage.

---
 src/mynteye/device/channel/channels.h | 2 ++
 src/mynteye/device/motions.cc         | 7 +++++--
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/src/mynteye/device/channel/channels.h b/src/mynteye/device/channel/channels.h
index abd0a50..8a8c51a 100644
--- a/src/mynteye/device/channel/channels.h
+++ b/src/mynteye/device/channel/channels.h
@@ -100,6 +100,8 @@ class MYNTEYE_API Channels {
   inline uint64_t timestamp_compensate(uint32_t timestamp32) {
     return 0;
   }
+  inline void SetAcceRange(const int & value) {accel_range = value;}
+  inline void SetGyroRange(const int & value) {gyro_range = value;}
 
  private:
   bool PuControlRange(
diff --git a/src/mynteye/device/motions.cc b/src/mynteye/device/motions.cc
index e901694..c80f5a1 100644
--- a/src/mynteye/device/motions.cc
+++ b/src/mynteye/device/motions.cc
@@ -69,6 +69,8 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
     gyro_range = channels_->GetControlValue(Option::GYROSCOPE_RANGE);
     if (gyro_range == -1)
       gyro_range = channels_->GetGyroRangeDefault();
+    channels_->SetAcceRange(accel_range);
+    channels_->SetGyroRange(gyro_range);
 
     channels_->SetImuCallback([this](const ImuPacket2 &packet) {
       if (!motion_callback_ && !motion_datas_enabled_) {
@@ -114,8 +116,9 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
         // LOG(INFO)<< "afterg" << imu->gyro[1];
         // LOG(INFO)<< "afterg" << imu->gyro[2];
 
-        bool proc_assembly = ((proc_mode_ & ProcessMode::PROC_IMU_ASSEMBLY) > 0);
-        bool proc_temp_drift = ((proc_mode_ & ProcessMode::PROC_IMU_TEMP_DRIFT) > 0);
+        bool proc_assembly =((proc_mode_ & ProcessMode::PROC_IMU_ASSEMBLY) > 0);
+        bool proc_temp_drift =
+            ((proc_mode_ & ProcessMode::PROC_IMU_TEMP_DRIFT) > 0);
         if (proc_assembly && proc_temp_drift) {
           ProcImuTempDrift(imu);
           ProcImuAssembly(imu);