From b88380db6f01841aceded1cdaaf20758a6063fe1 Mon Sep 17 00:00:00 2001 From: Andrzej Kapolka Date: Tue, 11 Jun 2013 13:43:29 -0700 Subject: [PATCH] New values, slower learning. --- interface/src/SerialInterface.cpp | 2 +- interface/src/SerialInterface.h | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/interface/src/SerialInterface.cpp b/interface/src/SerialInterface.cpp index af9c35196b..be1e6328da 100644 --- a/interface/src/SerialInterface.cpp +++ b/interface/src/SerialInterface.cpp @@ -257,7 +257,7 @@ void SerialInterface::readData(float deltaTime) { if (fabsf(error[i]) < EPSILON) { continue; } - const float LEARNING_RATE = 0.01f; + const float LEARNING_RATE = 0.001f; float rateSum = fabsf(_lastRotationRates.x) + fabsf(_lastRotationRates.y) + fabsf(_lastRotationRates.z); if (rateSum > EPSILON) { for (int j = 0; j < 3; j++) { diff --git a/interface/src/SerialInterface.h b/interface/src/SerialInterface.h index 2bb7e541ac..b10fba84ce 100644 --- a/interface/src/SerialInterface.h +++ b/interface/src/SerialInterface.h @@ -32,12 +32,12 @@ public: _lastAcceleration(0, 0, 0), _lastRotationRates(0, 0, 0), _angularVelocityToLinearAccel( // experimentally derived initial values - 0.001f, -0.008f, 0.020f, - 0.003f, -0.003f, 0.025f, - 0.017f, 0.007f, 0.029f), + 0.003f, -0.001f, -0.006f, + -0.005f, -0.001f, -0.006f, + 0.010f, 0.004f, 0.007f), _angularAccelToLinearAccel( // experimentally derived initial values 0.0f, 0.0f, 0.002f, - 0.0f, 0.0f, 0.002f, + 0.0f, 0.0f, 0.001f, -0.002f, -0.002f, 0.0f) {}