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Fix compass filtering

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This commit is contained in:
Victor Shcherb 2013-04-22 01:16:30 +02:00
parent de7412e675
commit 2b00a4314b
2 changed files with 35 additions and 21 deletions
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50
OsmAnd/src/net/osmand/plus/OsmAndLocationProvider.java
View file

@ -5,6 +5,8 @@ import java.util.Arrays;
import java.util.Iterator;
import java.util.List;
import com.ibm.icu.impl.OlsonTimeZone;
import net.osmand.GeoidAltitudeCorrection;
import net.osmand.PlatformUtil;
import net.osmand.access.NavigationInfo;
@ -19,8 +21,8 @@ import android.hardware.SensorEvent;
import android.hardware.SensorEventListener;
import android.hardware.SensorManager;
import android.location.GpsSatellite;
import android.location.GpsStatus.Listener;
import android.location.GpsStatus;
import android.location.GpsStatus.Listener;
import android.location.Location;
import android.location.LocationListener;
import android.location.LocationManager;
@ -57,12 +59,16 @@ public class OsmAndLocationProvider implements SensorEventListener {
private float previousCorrectionValue = 360;
private float previousCompassValuesAvg = 0;
private final boolean USE_KALMAN_FILTER = false;
private final float KALMAN_COEFFICIENT = 0.02f;
private float[] previousCompassValues = new float[50];
private int previousCompassInd = 0;
float avgValSin = 0;
float avgValCos = 0;
private float[] previousCompassValuesA = new float[40];
private float[] previousCompassValuesB = new float[40];
private int previousCompassIndA = 0;
private int previousCompassIndB = 0;
private Float heading = null;
@ -310,28 +316,36 @@ public class OsmAndLocationProvider implements SensorEventListener {
if (previousCorrectionValue != 360) {
val += previousCorrectionValue;
}
val = MapUtils.unifyRotationTo360(val);
if(previousCompassValuesAvg == 0 && previousCompassInd == 0) {
Arrays.fill(previousCompassValues, val);
previousCompassValuesAvg = val;
float valRad = (float) (val / 180f * Math.PI);
float valSin = (float) Math.sin(valRad);
float valCos = (float) Math.cos(valRad);
if(heading == null && previousCompassIndA == 0) {
Arrays.fill(previousCompassValuesA, valSin);
Arrays.fill(previousCompassValuesB, valCos);
avgValSin = valSin;
avgValCos = valCos;
} else {
if (USE_KALMAN_FILTER) {
previousCompassValuesAvg = KALMAN_COEFFICIENT * val +
previousCompassValuesAvg * (1 - KALMAN_COEFFICIENT);
avgValSin = KALMAN_COEFFICIENT * valSin + avgValSin * (1 - KALMAN_COEFFICIENT);
avgValCos = KALMAN_COEFFICIENT * valCos + avgValCos * (1 - KALMAN_COEFFICIENT);
} else {
int l = previousCompassValues.length;
previousCompassInd = (previousCompassInd + 1) % l;
int l = previousCompassValuesA.length;
previousCompassIndA = (previousCompassIndA + 1) % l;
previousCompassIndB = (previousCompassIndB + 1) % l;
// update average
previousCompassValuesAvg =
previousCompassValuesAvg + (-previousCompassValues[previousCompassInd] + val) / l;
previousCompassValues[previousCompassInd] = val;
previousCompassValuesAvg = MapUtils.unifyRotationTo360(previousCompassValuesAvg);
avgValSin = avgValSin + (-previousCompassValuesA[previousCompassIndA] + valSin) / l;
previousCompassValuesA[previousCompassIndA] = valSin;
avgValCos = avgValCos + (-previousCompassValuesB[previousCompassIndB] + valCos) / l;
previousCompassValuesB[previousCompassIndB] = valCos;
}
}
heading = previousCompassValuesAvg;
// System.out.println("Log sin/cos = " + valSin + "/" +valCos + " ?= avg " + avgValSin + "/"+avgValCos);
heading = (float) getAngle(avgValSin, avgValCos);
updateCompassValue(heading.floatValue());
}
private float getAngle(float sinA, float cosA) {
return MapUtils.unifyRotationTo360((float) (Math.atan2(sinA, cosA) * 180 / Math.PI));
}
private void updateCompassValue(float val) {

4
OsmAnd/src/net/osmand/plus/base/MapViewTrackingUtilities.java
View file

@ -93,7 +93,7 @@ public class MapViewTrackingUtilities implements OsmAndLocationListener, IMapLoc
OsmAndLocationProvider provider = app.getLocationProvider();
Float lastSensorRotation = provider.getHeading();
if (lastSensorRotation != null && Math.abs(MapUtils.degreesDiff(mapView.getRotate(), -lastSensorRotation)) > 15) {
if (now - lastTimeSensorMapRotation > 1500) {
if (now - lastTimeSensorMapRotation > 3500) {
lastTimeSensorMapRotation = now;
mapView.setRotate(-lastSensorRotation);
}
@ -105,7 +105,7 @@ public class MapViewTrackingUtilities implements OsmAndLocationListener, IMapLoc
RoutingHelper routingHelper = app.getRoutingHelper();
boolean enableSensorNavigation = false;
if(routingHelper.isFollowingMode() && settings.USE_COMPASS_IN_NAVIGATION.get()) {
enableSensorNavigation = !location.hasBearing() ;
enableSensorNavigation = !location.hasBearing();
}
registerUnregisterSensor(location, enableSensorNavigation);
}