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Commit 2cf09884 authored by Mathias Agopian's avatar Mathias Agopian
Browse files

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
parent 50b66767

services/sensorservice/RotationVectorSensor.cpp

+2 −2
Original line number Diff line number Diff line
@@ -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++) {

services/sensorservice/RotationVectorSensor.h

+2 −2
Original line number Diff line number Diff line
@@ -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);