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Show the average rotation rates, too.

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This commit is contained in:
Andrzej Kapolka 2013-06-11 15:47:05 -07:00
parent d913f8dec0
commit e77aee3967
3 changed files with 9 additions and 3 deletions
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7
interface/src/SerialInterface.cpp
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@ -236,6 +236,11 @@ void SerialInterface::readData(float deltaTime) {
glm::vec3 angularAcceleration = (deltaTime < EPSILON) ? glm::vec3() : (rotationRates - _lastRotationRates) / deltaTime;
_lastRotationRates = rotationRates;
_averageRotationRates = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageRotationRates +
1.f/(float)LONG_TERM_RATE_SAMPLES * _lastRotationRates;
printLog("r: %g %g %g\n", _averageRotationRates.x, _averageRotationRates.y, _averageRotationRates.z);
// Update raw rotation estimates
glm::quat estimatedRotation = glm::quat(glm::radians(_estimatedRotation)) *
glm::quat(glm::radians(deltaTime * _lastRotationRates));
@ -247,7 +252,7 @@ void SerialInterface::readData(float deltaTime) {
_averageAcceleration = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageAcceleration +
1.f/(float)LONG_TERM_RATE_SAMPLES * _estimatedAcceleration;
printLog("%g %g %g\n", _averageAcceleration.x, _averageAcceleration.y, _averageAcceleration.z);
printLog("a: %g %g %g\n", _averageAcceleration.x, _averageAcceleration.y, _averageAcceleration.z);
// Consider updating our angular velocity/acceleration to linear acceleration mapping
if (glm::length(_estimatedAcceleration) > EPSILON &&

1
interface/src/SerialInterface.h
View file

@ -74,6 +74,7 @@ private:
glm::vec3 _lastRotationRates;
glm::vec3 _averageAcceleration;
glm::vec3 _averageRotationRates;
glm::mat3 _angularVelocityToLinearAccel;
glm::mat3 _angularAccelToLinearAccel;

4
libraries/shared/src/SharedUtil.cpp
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@ -102,12 +102,12 @@ void setAtBit(unsigned char& byte, int bitIndex) {
}
int getSemiNibbleAt(unsigned char& byte, int bitIndex) {
return (byte >> (7 - bitIndex) & 3); // semi-nibbles store 00, 01, 10, or 11
return (byte >> (6 - bitIndex) & 3); // semi-nibbles store 00, 01, 10, or 11
}
void setSemiNibbleAt(unsigned char& byte, int bitIndex, int value) {
//assert(value <= 3 && value >= 0);
byte += ((value & 3) << (7 - bitIndex)); // semi-nibbles store 00, 01, 10, or 11
byte += ((value & 3) << (6 - bitIndex)); // semi-nibbles store 00, 01, 10, or 11
}