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fix [3369027] Sensor.TYPE_ROTATION_VECTOR is unstable and returns NaNs when running slowly

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The cut-off frequency of the lowpass filter was too high
for the sampling rate used by DELAY_NORMAL.

Now we use the same filters used for the gravity vector
(cascaded biquad at 1.5 Hz)

Change-Id: I319dc4f449a3abd553d61b196a9ddcf7782f912d
This commit is contained in:
Mathias Agopian 2011-01-19 14:26:25 -08:00
parent 50b66767f6
commit 2cf098846c
2 changed files with 4 additions and 4 deletions
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4
services/sensorservice/RotationVectorSensor.cpp
View File

@ -34,9 +34,9 @@ static inline T clamp(T v) {
RotationVectorSensor::RotationVectorSensor(sensor_t const* list, size_t count)
: mSensorDevice(SensorDevice::getInstance()),
mALowPass(M_SQRT1_2, 5.0f),
mALowPass(M_SQRT1_2, 1.5f),
mAX(mALowPass), mAY(mALowPass), mAZ(mALowPass),
mMLowPass(M_SQRT1_2, 2.5f),
mMLowPass(M_SQRT1_2, 1.5f),
mMX(mMLowPass), mMY(mMLowPass), mMZ(mMLowPass)
{
for (size_t i=0 ; i<count ; i++) {

4
services/sensorservice/RotationVectorSensor.h
View File

@ -38,9 +38,9 @@ class RotationVectorSensor : public SensorInterface {
double mAccTime;
double mMagTime;
SecondOrderLowPassFilter mALowPass;
BiquadFilter mAX, mAY, mAZ;
CascadedBiquadFilter mAX, mAY, mAZ;
SecondOrderLowPassFilter mMLowPass;
BiquadFilter mMX, mMY, mMZ;
CascadedBiquadFilter mMX, mMY, mMZ;
public:
RotationVectorSensor(sensor_t const* list, size_t count);