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Don't estimate acceleration before we know the gravity and don't update our

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matrices without acceleration.
This commit is contained in:
Andrzej Kapolka 2013-06-11 14:03:49 -07:00
parent b88380db6f
commit 47bd3bcdd7
1 changed files with 5 additions and 2 deletions
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7
interface/src/SerialInterface.cpp
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@ -240,10 +240,12 @@ void SerialInterface::readData(float deltaTime) {
glm::quat(glm::radians(deltaTime * _lastRotationRates));
// Update acceleration estimate: first, subtract gravity as rotated into current frame
_estimatedAcceleration = _lastAcceleration - glm::inverse(estimatedRotation) * _gravity;
_estimatedAcceleration = (totalSamples < GRAVITY_SAMPLES) ? glm::vec3() :
_lastAcceleration - glm::inverse(estimatedRotation) * _gravity;
// Consider updating our angular velocity/acceleration to linear acceleration mapping
if (glm::length(_lastRotationRates) > EPSILON || glm::length(angularAcceleration) > EPSILON) {
if (glm::length(_estimatedAcceleration) > EPSILON &&
glm::length(_lastRotationRates) > EPSILON || glm::length(angularAcceleration) > EPSILON) {
// compute predicted linear acceleration, find error between actual and predicted
glm::vec3 predictedAcceleration = _angularVelocityToLinearAccel * _lastRotationRates +
_angularAccelToLinearAccel * angularAcceleration;
@ -338,6 +340,7 @@ void SerialInterface::resetAverages() {
_estimatedRotation = glm::vec3(0, 0, 0);
_estimatedPosition = glm::vec3(0, 0, 0);
_estimatedVelocity = glm::vec3(0, 0, 0);
_estimatedAcceleration = glm::vec3(0, 0, 0);
}
void SerialInterface::resetSerial() {