That is an interesting point.. I'm not sure what the best way to handle the get_tilt update is? does anyone else have thoughts? I have confirmed that the 8th byte is the angle..where positive angles are just the value/2 and negative angles are (255-value)/2 and of course the 9th byte is the moving (0x04), stopped, (0x00), and limit (0x01) as previously stated -Melonee 2010/11/17 Stéphane Magnenat > On 17/11/10 10:49, Melonee Wise wrote: > >> Yes it's a branch but anyone is welcome to take my changes. I haven't >> added the accelerometer to the driver but I can add it (is there any >> preference on units), I am also trying to find if the current tilt >> position is published by the kinect so I can add a get method. >> > > I have forked your rep and added the accelerometers, see [1]. As Matthieu > suggested, we might want to use this call to update the tilt position and > store it in freenect_device. But the problem is that it will be updated only > when the get_accelerometer is called. Do we want to add a thread doing this > in background and updating cached values inside freenect_device? > > Kind regards, > > Stéphane > > [1] https://github.com/stephanemagnenat/libfreenect > > -- > Dr Stéphane Magnenat > http://stephane.magnenat.net > -- Senior Engineer Intern Program Director Willow Garage 68 Willow Rd. Menlo Park, Ca 94025