Using Oculus on motion platform impair head tracking

Quat lastFilteredOrientation;
Vec lastHmdOrientationAsEuler;
Vec integratedOrientationAsEuler;
Vec errorVec;
double lastTime;

// Begin Magic numbers
double angleThreashold = 5.0;     // Angular speed, when HMD camera resets view
double errorThreshold = 0.02;     // Angular differences that will  require low pass filtering
double smoothing = 0.02;          // Smoothing factor used to fade out error
double slerpFactor = 0.95;        // Use 95% of new signal when doing standard SLERP
double slerpFactorLowPass = 0.20; // SLERP factor when error is above threshold
// End Magic numbers

// Render loop
while (!rendering.done()) {
	// Calculate time delta
	double currentTime = getCurrentTime(); // Get current high precision time
	double deltaTime = currentTime - lastTime;
	lastTime = currentTime;
	
	// Get tracking state from Oculus
	ovrTrackingState state = ovrHmd_GetTrackingState(hmdDevice, 0.0); // Get tracking state
	Vec3 gyroRaw = state.RawSensorData.Gyro;
	Vec3 position = state.HeadPose.Position;
	Quat orientation = state.HeadPose.Position.Orientation;
	
	// Calculate derivative of reported orientation
	Vec3 hmdOrientationAsEuler = getEulerFromQuat(hmdOrientation);
	Vec3 rotationDiff = (hmdOrientationAsEuler - lastHmdOrientationAsEuler) / deltaTime;
	lastHmdOrientationAsEuler = hmdOrientationAsEuler;
	
	// Calculate difference between derivative of orientation and raw gyro
	Vec3 angleDiff = rotationDiff - gyroRaw;

	// If angle derivative is above threshold, then Oculus camera has reset orientation
	if (angleDiff.length() > angleThreshold) {
		errorVec += integratedOrientationAsEuler; // Add current integrator value to error vector
		integratedOrientationAsEuler.set(Vec3(0.0, 0.0, 0.0)); // Reset integrator
	}
	
	// Get data from external inertial sensor
	Vec3 externalGyro = getExternalGyroAsEuler();
	
	// Integrate external gyro signal to get orientation
	integratedOrientationAsEuler += Vec3(externalGyro.x(), externalGyro.y(), externalGyro.z()) * deltaTime;
	
	// If accumulated error is above threshold, then add part of error vector to gyro signal
	Quat errorCompensation;
	if (errorVec.length() > errorThreshold) {
		errorCompensation = makeQuatFromEuler(errorVec);
		errorVec = errorVec * (1 - smoothing); // Fade out error
		slerpFactor = slerpFactorLowPass; // Set low pass slerp factor
	}
	
	// Make quaternion from integrated external gyro signal
	Quat orientationFromExternalGyro = makeQuatFromEuler(integratedOrientationAsEuler);
	
	// Subtract orientation from external gyro from HMD orientation
	Quat computedOrientation = orientation / (orientationFromExternalGyro * errorCompensation); 
	
	// Spherical linear interpolation from lastFilteredOrientation to computedOrientation (0..1)
	Quat filteredOrientation = slerp(slerpFactor, lastFilteredOrientation, computedOrientation);
	lastFilteredOrientation = filteredOrientation;
	
	// Set render camera orientation
	setCameraOrientation(filteredOrientation);
	
	// Render frame
	renderFrame();
}

"clyevo" wrote:
Sorry for brnging up an old thread.

I am no programmer and have no idea how to modify the SDK
Is it possible to make the software ignore the headset internal IMU and only use data from optical tracking of the camera for 6dof headtracking??