From 83984a1f4c9565299db394150d669a867988d545 Mon Sep 17 00:00:00 2001
From: Victor Shcherb <victor.shcherb@gmail.com>
Date: Wed, 22 May 2013 01:31:18 +0200
Subject: [PATCH] Add settings for kalman filter

---
 OsmAnd/res/values/strings.xml                                | 5 ++++-
 OsmAnd/src/net/osmand/plus/OsmAndLocationProvider.java       | 4 +++-
 OsmAnd/src/net/osmand/plus/OsmandSettings.java               | 1 +
 .../net/osmand/plus/activities/SettingsGeneralActivity.java  | 2 ++
 4 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/OsmAnd/res/values/strings.xml b/OsmAnd/res/values/strings.xml
index 10ca12a4f2..ea12fd865a 100644
--- a/OsmAnd/res/values/strings.xml
+++ b/OsmAnd/res/values/strings.xml
@@ -9,9 +9,12 @@
          3. All your modified/created strings are in the top of the file (to make easier find what\'s translated).
     PLEASE: Have a look at http://code.google.com/p/osmand/wiki/UIConsistency, it may really improve your and our work  :-)  Thx - Hardy
     -->
+    
+    <string name="use_kalman_filter_compass_descr">Use Kalman filter to avoid compass aberrations</string>
+    <string name="use_kalman_filter_compass">Use Kalman filter</string>
     <string name="access_mark_final_location_first">Accessibility mode : please select destination first</string> 
     <string name="use_magnetic_sensor_descr">Use magnetic sensor to determine compass value instead of orientation sensor</string>
-    <string name="use_magnetic_sensor">Use magnetic sensor (compass)</string>
+    <string name="use_magnetic_sensor">Use magnetic sensor</string>
     <string name="other_location">Other</string>
     <string name="files_limit">%1$d files left</string>
     <string name="available_downloads_left">Available %1$d files to download</string>
diff --git a/OsmAnd/src/net/osmand/plus/OsmAndLocationProvider.java b/OsmAnd/src/net/osmand/plus/OsmAndLocationProvider.java
index 96905d8092..96cd134cdc 100644
--- a/OsmAnd/src/net/osmand/plus/OsmAndLocationProvider.java
+++ b/OsmAnd/src/net/osmand/plus/OsmAndLocationProvider.java
@@ -92,12 +92,14 @@ public class OsmAndLocationProvider implements SensorEventListener {
 	private Listener gpsStatusListener;
 	private float[] mRotationM =  new float[9];
 	private OsmandPreference<Boolean> USE_MAGNETIC_FIELD_SENSOR_COMPASS;
+	private OsmandPreference<Boolean> uSE_FILTER_FOR_COMPASS;
 	
 	public OsmAndLocationProvider(OsmandApplication app) {
 		this.app = app;
 		navigationInfo = new NavigationInfo(app);
 		settings = app.getSettings();
 		USE_MAGNETIC_FIELD_SENSOR_COMPASS = settings.USE_MAGNETIC_FIELD_SENSOR_COMPASS;
+		uSE_FILTER_FOR_COMPASS = settings.USE_KALMAN_FILTER_FOR_COMPASS;
 		currentPositionHelper = new CurrentPositionHelper(app);
 		locationSimulation = new OsmAndLocationSimulation(app, this);
 	}
@@ -307,7 +309,7 @@ public class OsmAndLocationProvider implements SensorEventListener {
 				lastValSin = (float) Math.sin(valRad);
 				lastValCos = (float) Math.cos(valRad);
 				// lastHeadingCalcTime = System.currentTimeMillis();
-				boolean filter = true; //USE_MAGNETIC_FIELD_SENSOR_COMPASS.get();
+				boolean filter = uSE_FILTER_FOR_COMPASS.get(); //USE_MAGNETIC_FIELD_SENSOR_COMPASS.get();
 				if (filter) {
 					filterCompassValue();
 				} else {
diff --git a/OsmAnd/src/net/osmand/plus/OsmandSettings.java b/OsmAnd/src/net/osmand/plus/OsmandSettings.java
index 476a815cb9..ec789e5f96 100644
--- a/OsmAnd/src/net/osmand/plus/OsmandSettings.java
+++ b/OsmAnd/src/net/osmand/plus/OsmandSettings.java
@@ -604,6 +604,7 @@ public class OsmandSettings {
 	public final OsmandPreference<Boolean> USE_HIGH_RES_MAPS = new BooleanPreference("use_high_res_maps", true).makeGlobal().cache();
 	
 	public final OsmandPreference<Boolean> USE_MAGNETIC_FIELD_SENSOR_COMPASS = new BooleanPreference("use_magnetic_field_sensor_compass", true).makeGlobal().cache();
+	public final OsmandPreference<Boolean> USE_KALMAN_FILTER_FOR_COMPASS = new BooleanPreference("use_kalman_filter_compass", true).makeGlobal().cache();
 	
 	// this value string is synchronized with settings_pref.xml preference name
 	public final OsmandPreference<Float> MAP_TEXT_SIZE = new FloatPreference("map_text_size", 1.0f).makeProfile().cache();
diff --git a/OsmAnd/src/net/osmand/plus/activities/SettingsGeneralActivity.java b/OsmAnd/src/net/osmand/plus/activities/SettingsGeneralActivity.java
index 182e620bbf..335db59b41 100644
--- a/OsmAnd/src/net/osmand/plus/activities/SettingsGeneralActivity.java
+++ b/OsmAnd/src/net/osmand/plus/activities/SettingsGeneralActivity.java
@@ -23,6 +23,7 @@ import android.content.DialogInterface.OnClickListener;
 import android.content.Intent;
 import android.content.pm.ActivityInfo;
 import android.content.res.Configuration;
+import android.hardware.SensorManager;
 import android.media.AudioManager;
 import android.os.AsyncTask;
 import android.os.Bundle;
@@ -114,6 +115,7 @@ public class SettingsGeneralActivity extends SettingsBaseActivity {
 		}
 		
 		screen.addPreference(createCheckBoxPreference(settings.USE_MAGNETIC_FIELD_SENSOR_COMPASS, R.string.use_magnetic_sensor, R.string.use_magnetic_sensor_descr));
+		screen.addPreference(createCheckBoxPreference(settings.USE_KALMAN_FILTER_FOR_COMPASS, R.string.use_kalman_filter_compass, R.string.use_kalman_filter_compass_descr));
 		
 		registerBooleanPreference(settings.USE_ENGLISH_NAMES, screen);
 		registerBooleanPreference(settings.LEFT_SIDE_NAVIGATION, screen);