replicant-frameworks_native/services/sensorservice/RotationVectorSensor.h
Mathias Agopian 2cf098846c fix [3369027] Sensor.TYPE_ROTATION_VECTOR is unstable and returns NaNs when running slowly
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
2012-06-27 17:07:54 -07:00

59 lines
1.9 KiB
C++

/*
* Copyright (C) 2010 The Android Open Source Project
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef ANDROID_ROTATION_VECTOR_SENSOR_H
#define ANDROID_ROTATION_VECTOR_SENSOR_H
#include <stdint.h>
#include <sys/types.h>
#include <gui/Sensor.h>
#include "SensorDevice.h"
#include "SensorInterface.h"
#include "SecondOrderLowPassFilter.h"
// ---------------------------------------------------------------------------
namespace android {
// ---------------------------------------------------------------------------
class RotationVectorSensor : public SensorInterface {
SensorDevice& mSensorDevice;
Sensor mAcc;
Sensor mMag;
float mMagData[3];
double mAccTime;
double mMagTime;
SecondOrderLowPassFilter mALowPass;
CascadedBiquadFilter mAX, mAY, mAZ;
SecondOrderLowPassFilter mMLowPass;
CascadedBiquadFilter mMX, mMY, mMZ;
public:
RotationVectorSensor(sensor_t const* list, size_t count);
virtual bool process(sensors_event_t* outEvent,
const sensors_event_t& event);
virtual status_t activate(void* ident, bool enabled);
virtual status_t setDelay(void* ident, int handle, int64_t ns);
virtual Sensor getSensor() const;
virtual bool isVirtual() const { return true; }
};
// ---------------------------------------------------------------------------
}; // namespace android
#endif // ANDROID_ROTATION_VECTOR_SENSOR_H