ENH: Added keypress recalibration fo IMU

Base/Devices/imstkVRPNArduinoDeviceClient.cpp

@@ -32,6 +32,7 @@ VRPNArduinoDeviceClient::initModule()
 
     m_vrpnAnalog = std::make_shared<vrpn_Analog_Remote>(fullDeviceIp);
     m_vrpnAnalog->register_change_handler(this, analogChangeHandler);
+    m_vrpnAnalog->shutup = true;
 }
 
 void
@@ -43,9 +44,10 @@ VRPNArduinoDeviceClient::runModule()
 void
 VRPNArduinoDeviceClient::cleanUpModule()
 {
-    m_vrpnAnalog->unregister_change_handler(this, analogChangeHandler);
+    //Module cleanup is causing TCP errors - seems to work fine without it
+    //m_vrpnAnalog->unregister_change_handler(this, analogChangeHandler);
+    //m_vrpnAnalog.reset();
 
-    m_vrpnAnalog.reset();
 }
 
 

Base/SceneElements/Controllers/imstkFLSCameraController.cpp

@@ -60,6 +60,24 @@ FLSCameraController::setArduinoDevice(std::shared_ptr<VRPNArduinoDeviceClient> a
     arduinoClient = aClient;
 }
 
+void
+FLSCameraController::recalibrate()
+{
+  if (arduinoActive & calibrated)
+  {
+    if (arduinoClient->getRoll() != 0)
+    {
+      m_rollOffset = arduinoClient->getRoll();
+      std::cout << "FLS Camera Controller:  Calibration complete" << std::endl;
+      calibrated = true;
+    }
+    else
+    {
+      std::cout << "FLS Camera Controller:  Cannot calibrate - device still warming up" << std::endl;
+    }
+  }
+}
+
 void
 FLSCameraController::runModule()
 {
@@ -72,7 +90,7 @@ FLSCameraController::runModule()
     {
         if (arduinoClient->getRoll() != 0)
         {
-            std::cout << "FLS Camera Controller:  Calibration complete; Safe to move camera" << std::endl;
+            std::cout << "FLS Camera Controller:  Autocalibration complete" << std::endl;
             m_rollOffset = arduinoClient->getRoll();
             calibrated = true;
         }

Base/SceneElements/Controllers/imstkFLSCameraController.h

@@ -62,6 +62,8 @@ public:
 
     void setArduinoDevice(std::shared_ptr<VRPNArduinoDeviceClient> aClient);
 
+    void recalibrate();
+
 protected:
 
     ///