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Commit c2d2840a authored by Ytai Ben-Tsvi's avatar Ytai Ben-Tsvi
Browse files

Correctly configure rate limiter 

The rate limiter was configured to 0 because we did math in fixed
point. This is now fixed.

Also, the rate limiter now supports 0 and doesn't return NaN.

Test: Manual verification of data via logging
Change-Id: Ifef562c504db405fe1098b47d047696fd9292845
parent dd31ee05

media/libheadtracking/Pose.cpp

+1 −1
Original line number Diff line number Diff line
@@ -43,7 +43,7 @@ std::tuple<Pose3f, bool> moveWithRateLimit(const Pose3f& from, const Pose3f& to, 
        return {to, false};

    }

    // Always rate limit if t is 0 (required to avoid division by 0).

    if (t == 0) {

    if (t == 0 || maxTranslationalVelocity == 0 || maxRotationalVelocity == 0) {

        return {from, true};

    }

services/audiopolicy/service/SpatializerPoseController.cpp

+2 −2
Original line number Diff line number Diff line
@@ -35,10 +35,10 @@ using namespace std::chrono_literals; 
namespace {



// This is how fast, in m/s, we allow position to shift during rate-limiting.

constexpr auto kMaxTranslationalVelocity = 2;

constexpr float kMaxTranslationalVelocity = 2;



// This is how fast, in rad/s, we allow rotation angle to shift during rate-limiting.

constexpr auto kMaxRotationalVelocity = 8;

constexpr float kMaxRotationalVelocity = 8;



// This should be set to the typical time scale that the translation sensors used drift in. This

// means, loosely, for how long we can trust the reading to be "accurate enough". This would