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Try to update location provider

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Victor Shcherb 2013-04-22 17:59:40 +02:00
parent 91301d881c
commit c49e08bcaa
1 changed files with 38 additions and 25 deletions
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63
OsmAnd/src/net/osmand/plus/OsmAndLocationProvider.java
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@ -61,15 +61,18 @@ public class OsmAndLocationProvider implements SensorEventListener {
private final boolean USE_KALMAN_FILTER = true;
private final float KALMAN_COEFFICIENT = 0.5f;
private final float KALMAN_COEFFICIENT = 0.02f;
float avgValSin = 0;
float avgValCos = 0;
private float[] previousCompassValuesA = new float[5];
private float[] previousCompassValuesB = new float[5];
float lastValSin = 0;
float lastValCos = 0;
private float[] previousCompassValuesA = new float[50];
private float[] previousCompassValuesB = new float[50];
private int previousCompassIndA = 0;
private int previousCompassIndB = 0;
private long lastHeadingCalcTime = 0;
private Float heading = null;
// Current screen orientation
@ -317,42 +320,55 @@ public class OsmAndLocationProvider implements SensorEventListener {
val += previousCorrectionValue;
}
float valRad = (float) (val / 180f * Math.PI);
float valSin = (float) Math.sin(valRad);
float valCos = (float) Math.cos(valRad);
lastValSin = (float) Math.sin(valRad);
lastValCos = (float) Math.cos(valRad);
lastHeadingCalcTime = System.currentTimeMillis();
if(heading == null && previousCompassIndA == 0) {
Arrays.fill(previousCompassValuesA, valSin);
Arrays.fill(previousCompassValuesB, valCos);
avgValSin = valSin;
avgValCos = valCos;
Arrays.fill(previousCompassValuesA, lastValSin);
Arrays.fill(previousCompassValuesB, lastValCos);
avgValSin = lastValSin;
avgValCos = lastValCos;
} else {
if (USE_KALMAN_FILTER) {
avgValSin = KALMAN_COEFFICIENT * valSin + avgValSin * (1 - KALMAN_COEFFICIENT);
avgValCos = KALMAN_COEFFICIENT * valCos + avgValCos * (1 - KALMAN_COEFFICIENT);
avgValSin = KALMAN_COEFFICIENT * lastValSin + avgValSin * (1 - KALMAN_COEFFICIENT);
avgValCos = KALMAN_COEFFICIENT * lastValCos + avgValCos * (1 - KALMAN_COEFFICIENT);
} else {
int l = previousCompassValuesA.length;
previousCompassIndA = (previousCompassIndA + 1) % l;
previousCompassIndB = (previousCompassIndB + 1) % l;
// update average
avgValSin = avgValSin + (-previousCompassValuesA[previousCompassIndA] + valSin) / l;
previousCompassValuesA[previousCompassIndA] = valSin;
avgValCos = avgValCos + (-previousCompassValuesB[previousCompassIndB] + valCos) / l;
previousCompassValuesB[previousCompassIndB] = valCos;
avgValSin = avgValSin + (-previousCompassValuesA[previousCompassIndA] + lastValSin) / l;
previousCompassValuesA[previousCompassIndA] = lastValSin;
avgValCos = avgValCos + (-previousCompassValuesB[previousCompassIndB] + lastValCos) / l;
previousCompassValuesB[previousCompassIndB] = lastValCos;
}
}
// System.out.println("Log sin/cos = " + valSin + "/" +valCos + " ?= avg " + avgValSin + "/"+avgValCos);
updateCompassVal();
}
private void updateCompassVal() {
heading = (float) getAngle(avgValSin, avgValCos);
updateCompassValue(heading.floatValue());
for(OsmAndCompassListener c : compassListeners){
c.updateCompassValue(heading.floatValue());
}
}
public Float getHeading() {
if (heading != null && lastValSin != avgValSin && System.currentTimeMillis() - lastHeadingCalcTime > 700) {
avgValSin = lastValSin;
avgValCos = lastValCos;
lastHeadingCalcTime = System.currentTimeMillis();
Arrays.fill(previousCompassValuesA, avgValSin);
Arrays.fill(previousCompassValuesB, avgValCos);
updateCompassVal();
}
return heading;
}
private float getAngle(float sinA, float cosA) {
return MapUtils.unifyRotationTo360((float) (Math.atan2(sinA, cosA) * 180 / Math.PI));
}
private void updateCompassValue(float val) {
for(OsmAndCompassListener c : compassListeners){
c.updateCompassValue(val);
}
}
private void updateLocation(net.osmand.Location loc ) {
for(OsmAndLocationListener l : locationListeners){
@ -584,9 +600,6 @@ public class OsmAndLocationProvider implements SensorEventListener {
return location;
}
public Float getHeading() {
return heading;
}
public void showNavigationInfo(LatLon pointToNavigate, Context uiActivity) {
getNavigationInfo().show(pointToNavigate, getHeading(), uiActivity);