87 commits

Author	SHA1	Message	Date
Andrzej Kapolka	55a010a1a0	And also, close the file descriptor and print a message.	2013-08-07 18:02:38 -07:00
Andrzej Kapolka	f171b76f69	Fix for gyros' freaking out when disconnected.	2013-08-07 17:54:02 -07:00
Stephen Birarda	1b48d4f0fc	revert removal of extraneous newlines	2013-07-16 12:46:32 -07:00
Stephen Birarda	89d3cfdb6f	remove now extraneous newlines after switch to QDebug	2013-07-16 11:16:51 -07:00
Stephen Birarda	afe49bc756	switch calls to printLog to QDebug	2013-07-16 11:07:22 -07:00
Andrzej Kapolka	4e524d7125	Compass tweaks: better initial extents, scale extents to compensate for ... anisotropy, converge more quickly on compass heading.	2013-07-11 12:10:15 -07:00
Andrzej Kapolka	559dc4bb5d	Flush the queue so that we don't get any funny data on the initial read.	2013-07-10 15:07:39 -07:00
Andrzej Kapolka	6a5fb4f535	Removed unused variables, added motion driver library for OS X.	2013-07-10 14:28:06 -07:00
Andrzej Kapolka	6fe9a71868	Basic compass fusion.	2013-07-10 14:06:12 -07:00
Andrzej Kapolka	a116f5a636	Use InvenSense code to handle the rather complicated business of talking the ... sensor into giving us the compass reading. We're getting it now, but I still have to figure out how to incorporate it.	2013-07-09 17:28:23 -07:00
Andrzej Kapolka	b660336b2a	Fix for camera movement with webcam enabled; don't bother using roll from ... webcam if we have the gyros; reinstate head orientation scaling; don't bother using gyro position.	2013-07-02 16:59:03 -07:00
Andrzej Kapolka	3de76c9e15	Approach the webcam position rapidly.	2013-06-20 16:28:48 -07:00
Andrzej Kapolka	8cffaf7cc0	Fixed includes.	2013-06-20 16:09:24 -07:00
Andrzej Kapolka	7e34bef01e	Attempt to fuse gyro readings with webcam data.	2013-06-20 16:07:33 -07:00
Andrzej Kapolka	b0dd5223e1	Avatar head roll/lean based on webcam data.	2013-06-20 14:20:03 -07:00
Andrzej Kapolka	648aacb53d	Let's use a fixed vector for the camera position so that the target doesn't ... move with lean.	2013-06-11 17:26:41 -07:00
Andrzej Kapolka	090df81afe	Fixes to align better with previous code.	2013-06-11 15:58:50 -07:00
Andrzej Kapolka	e77aee3967	Show the average rotation rates, too.	2013-06-11 15:47:05 -07:00
Andrzej Kapolka	d913f8dec0	Actually, we want it sans gravity.	2013-06-11 14:25:05 -07:00
Andrzej Kapolka	4b890e2ccc	Let's see what the long-term average acceleration is.	2013-06-11 14:23:47 -07:00
Andrzej Kapolka	47bd3bcdd7	Don't estimate acceleration before we know the gravity and don't update our ... matrices without acceleration.	2013-06-11 14:03:49 -07:00
Andrzej Kapolka	b88380db6f	New values, slower learning.	2013-06-11 13:43:29 -07:00
Andrzej Kapolka	5ba1d3a28c	It ain't perfect, but I'm going with what I've got for now.	2013-06-11 13:18:13 -07:00
Andrzej Kapolka	517bbe80a7	Initial values, report error.	2013-06-11 13:02:20 -07:00
Andrzej Kapolka	ff9e6f831c	Revert to previous coordinates.	2013-06-11 11:31:01 -07:00
Andrzej Kapolka	bf389de774	Testing a different coordinate conversion.	2013-06-11 11:22:43 -07:00
Andrzej Kapolka	73ceea7795	Working on "learning" the acceleration matrices.	2013-06-11 10:55:28 -07:00
Andrzej Kapolka	988c4f97b0	This should be the normalized offset.	2013-06-10 18:43:11 -07:00
Andrzej Kapolka	a34f9a0ef3	Need to include SharedUtil.	2013-06-10 18:41:49 -07:00
Andrzej Kapolka	90ef6a7cc0	Attempting to perform the transform between angular and linear acceleration.	2013-06-10 18:40:07 -07:00
Andrzej Kapolka	1b8683cbc5	Let's see if we can get an estimate of the distance to the sensor based on ... the ratios between linear and angular velocity.	2013-06-10 15:22:53 -07:00
Andrzej Kapolka	5820c3c7c3	Remove average measurements, compute estimated acceleration (without rotated ... gravity).	2013-06-10 14:49:39 -07:00
Andrzej Kapolka	e0e94481c9	Add pitch/yaw scale preference to control degree of view rotation.	2013-06-06 17:53:00 -07:00
Andrzej Kapolka	ffc1c33455	Removed double negation for coordinates, world aligned orientation -> camera ... orientation, removed roll.	2013-06-06 17:25:52 -07:00
Andrzej Kapolka	0dbb5375db	Approach the "down" direction more rapidly.	2013-06-06 15:50:14 -07:00
Andrzej Kapolka	a7c265d017	More compiley.	2013-06-06 15:44:38 -07:00
Andrzej Kapolka	ba6f2307ba	Coordinate fix.	2013-06-06 15:43:26 -07:00
Andrzej Kapolka	081f193db8	Add back yaw decay the quaternion way.	2013-06-06 14:34:28 -07:00
Andrzej Kapolka	d87e165b06	Acceleration is presumably relative to the current orientation.	2013-06-06 14:08:53 -07:00
Andrzej Kapolka	9afb1b3338	Enhanced workiness.	2013-06-06 13:09:00 -07:00
Andrzej Kapolka	f04e45b7c1	Use quaternions for rotation estimates.	2013-06-06 12:07:34 -07:00
Andrzej Kapolka	14f331b07d	Scratch that; need to do this in a branch.	2013-06-06 12:05:52 -07:00
Andrzej Kapolka	a851499684	Rework rotation estimation bits to use quaternions.	2013-06-06 12:03:50 -07:00
Philip Rosedale	61d4ac2675	Fixes per code review.	2013-06-06 09:52:39 -07:00
Philip Rosedale	24dcd14371	Added sensor fusion for more stable gyro roll, pitch.	2013-06-05 23:53:01 -07:00
Philip Rosedale	69ec109585	Refactor/Cleanup serial interface to use vectors, correct rotation axes. Added translation estimation for the head.	2013-05-31 15:28:15 -07:00
Philip Rosedale	17c898c151	Long term averaging of the gyros for better stability	2013-05-24 11:33:00 -07:00
Stephen Birarda	d7a1cc6ea8	correct the sign for yaw and roll for invensense serial data	2013-05-22 19:38:17 -07:00
Philip Rosedale	1b039c3755	Transmitter V2 drives the hand, and rendering levels with 'l' shows the hand transmitter data. Physics will need to be tuned.	2013-05-16 00:10:10 -06:00
Philip Rosedale	6b85d93aee	Simplified serial port init to not use baud.	2013-05-13 18:52:43 -07:00