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use gyro timestamp directly in fusion

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we used to estimate the gyro rate and deduce the period from that
but it turns out this is causing problems.

Bug: 5192288
Change-Id: I8ca826d0e11e488587bcaa1720de99e92b82f191
This commit is contained in:
Mathias Agopian 2013-05-30 14:18:23 -07:00
parent 9e3cb55b8f
commit 2e2a560c4b
2 changed files with 8 additions and 7 deletions
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11
services/sensorservice/SensorFusion.cpp
View File

@ -53,8 +53,8 @@ SensorFusion::SensorFusion()
// 200 Hz for gyro events is a good compromise between precision
// and power/cpu usage.
mGyroRate = 200;
mTargetDelayNs = 1000000000LL/mGyroRate;
mEstimatedGyroRate = 200;
mTargetDelayNs = 1000000000LL/mEstimatedGyroRate;
mFusion.init();
}
}
@ -63,14 +63,15 @@ void SensorFusion::process(const sensors_event_t& event) {
if (event.type == mGyro.getType()) {
if (mGyroTime != 0) {
const float dT = (event.timestamp - mGyroTime) / 1000000000.0f;
mFusion.handleGyro(vec3_t(event.data), dT);
// here we estimate the gyro rate (useful for debugging)
const float freq = 1 / dT;
if (freq >= 100 && freq<1000) { // filter values obviously wrong
const float alpha = 1 / (1 + dT); // 1s time-constant
mGyroRate = freq + (mGyroRate - freq)*alpha;
mEstimatedGyroRate = freq + (mEstimatedGyroRate - freq)*alpha;
}
}
mGyroTime = event.timestamp;
mFusion.handleGyro(vec3_t(event.data), 1.0f/mGyroRate);
} else if (event.type == SENSOR_TYPE_MAGNETIC_FIELD) {
const vec3_t mag(event.data);
mFusion.handleMag(mag);
@ -142,7 +143,7 @@ void SensorFusion::dump(String8& result, char* buffer, size_t SIZE) {
"b=< %g, %g, %g >\n",
mEnabled ? "enabled" : "disabled",
mClients.size(),
mGyroRate,
mEstimatedGyroRate,
fusion.getAttitude().x,
fusion.getAttitude().y,
fusion.getAttitude().z,

4
services/sensorservice/SensorFusion.h
View File

@ -44,7 +44,7 @@ class SensorFusion : public Singleton<SensorFusion> {
Sensor mGyro;
Fusion mFusion;
bool mEnabled;
float mGyroRate;
float mEstimatedGyroRate;
nsecs_t mTargetDelayNs;
nsecs_t mGyroTime;
vec4_t mAttitude;
@ -60,7 +60,7 @@ public:
mat33_t getRotationMatrix() const { return mFusion.getRotationMatrix(); }
vec4_t getAttitude() const { return mAttitude; }
vec3_t getGyroBias() const { return mFusion.getBias(); }
float getEstimatedRate() const { return mGyroRate; }
float getEstimatedRate() const { return mEstimatedGyroRate; }
status_t activate(void* ident, bool enabled);
status_t setDelay(void* ident, int64_t ns);