70 commits

Author	SHA1	Message	Date
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
Philip Rosedale	87dfbf9f4f	Improved Invensense stability by adding average of first few samples to better eliminate DC bias/drift	2013-05-13 18:04:21 -07:00
Philip Rosedale	dd33cedf8d	Removed old serial code for Maple ADC	2013-05-09 14:01:22 -07:00
Philip Rosedale	dbdd4160cc	Added acceleration reading, gravity baseline, and line displays to invensense	2013-05-09 13:29:09 -07:00
Stephen Birarda	1c073c1c71	correct the accelerometer sensitivity	2013-05-09 10:38:02 -07:00
Stephen Birarda	f95ba24f21	also read accelerometer data from invensense boards	2013-05-09 10:34:40 -07:00
Philip Rosedale	a9882d054f	Invensense gyros now correctly controlling head motion, code cleanups.	2013-05-08 14:39:41 -07:00
Philip Rosedale	131377aaf9	Converted gyro values to floats and converted to exact degrees/second per docs.	2013-05-08 11:22:49 -07:00
Stephen Birarda	75ba88923f	remove the serial interface close in destructor, incorrect solution	2013-05-07 17:09:49 -07:00
Stephen Birarda	f424b75e7b	some spacing repairs after merging Philip's levels pull	2013-05-06 17:50:44 -07:00
Philip Rosedale	3b3e6ae075	Merge remote-tracking branch 'upstream/master'	2013-05-06 13:42:23 -07:00
Stephen Birarda	784fa5882a	closing of serial interface should be conditional on __APPLE__	2013-05-06 13:36:58 -07:00
Stephen Birarda	250df35bc1	resolve conflicts on merge with upstream master	2013-05-06 13:31:50 -07:00
Philip Rosedale	eedbb98c32	Merge remote-tracking branch 'upstream/master'	2013-05-06 13:29:34 -07:00
Philip Rosedale	f39fa3549b	invensense horizontal lines for RT indicator	2013-05-06 13:29:02 -07:00
Stephen Birarda	6666229d83	close the serial file descriptor in destructor	2013-05-06 13:25:49 -07:00
Stephen Birarda	49042046de	remove duplicated constructor after merge	2013-05-06 13:20:13 -07:00
Stephen Birarda	0b810fa4c2	if we fail to open SerialInterface twice then don't keep trying	2013-05-06 13:09:15 -07:00