IMU flip accelerations flag

Author: micahpearlman

Runtime/Scripts/Sensors/IMU/ZOIMU.cs

@@ -16,18 +16,18 @@ namespace ZO.Sensors {
     public class ZOIMU : ZOGameObjectBase, ZOSerializationInterface {
 
         [Header("IMU Parameters")]
-        public bool _flipGravity = false;
+        public bool _flipAccelerations = false;
 
         /// <summary>
-        /// Flips gravity vectory. 
+        /// Flips gravity vector. 
         /// Why would you: the accelerometer is an intertial sensor and it measures inertial force. 
         /// The accelerometer doesn’t measure G-force, but rather the force that resists to G. 
         /// The resisting force aims up to the ceiling.
         /// </summary>
         /// <value></value>
-        public bool FlipGravity {
-            get {return _flipGravity;}
-            set {_flipGravity = value;}
+        public bool FlipAccellerations {
+            get {return _flipAccelerations;}
+            set {_flipAccelerations = value;}
         }
 
 
@@ -116,12 +116,14 @@ protected override async void ZOFixedUpdate() {
             _lastVelocity = velocity;
 
             // apply gravity
-            if (FlipGravity == true) {
+            if (FlipAccellerations == true) {
                 _acceleration += transform.InverseTransformDirection(UnityEngine.Physics.gravity * -1);
             } else {
-                _acceleration += transform.InverseTransformDirection(UnityEngine.Physics.gravity);
+                
             }
-            
+
+            // calculate gravity
+            _acceleration += transform.InverseTransformDirection(UnityEngine.Physics.gravity);            
             _acceleration = _linearNoise.Apply(_acceleration);
             _acceleration = ZO.Math.ZOMathUtil.lowPassFilter(_acceleration, prevAcceleration, _preFilterAccelerationAlpha);
 
@@ -134,6 +136,10 @@ protected override async void ZOFixedUpdate() {
             Vector3 publishedAngularVelocity = _angularVelocity;
             Quaternion publishedOrientation = transform.rotation;
 
+            if (FlipAccellerations == true) {
+                publishedAcceleration = publishedAcceleration * -1;
+            }
+
 
             if (OnPublishDelegate != null) {
                 await OnPublishDelegate(this, Name, publishedAcceleration, publishedAngularVelocity, publishedOrientation);

package.json

@@ -1,6 +1,6 @@
 {
   "name": "com.fsstudio.zerosim",
-  "version": "0.0.15",
+  "version": "0.0.16",
   "displayName": "ZeroSim",
   "description": "ZeroSim ROS robotic simulator in Unity.",
   "unity": "2020.1",