24f9bea8ebc752cee0047fce1c0cddbb431e886d |
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30-May-2013 |
Mathias Agopian <mathias@google.com> |
revert parts of dc5b63e40, which made gyro drift estimation unstable initialize the system covariance matrix with non-zero values for the gyro-bias part. this improves the initial bias estimation speed significantly. the initial covariance matrix should be small because the drift changes slowly. the real problem is that we're not starting with a good estimate of the drift, which this algorithm relies on. so with this revert, it'll take a while for the drift to be estimated but it won't be unstable. Change-Id: Id5584bc114a2390d507643b2451b2650c1b90721
/frameworks/native/services/sensorservice/Fusion.cpp
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bdf277355dcd647bd5d27b38fc107243a2247a02 |
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29-Jun-2012 |
Mathias Agopian <mathias@google.com> |
improve sensor fusion we now use a better quaternion propagation equation this is especially beneficial for lower gyroscope rates Change-Id: Ifbf273c8a092a8849ca4fe4b9bca30787e924018
/frameworks/native/services/sensorservice/Fusion.cpp
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8f11b24a729c9779d75e09df27967091dc6e27c7 |
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28-Jun-2012 |
Mathias Agopian <mathias@google.com> |
add some comments Change-Id: Ia2e2c9531715fc2bd5b51c4dc58389e01abfe7e6
/frameworks/native/services/sensorservice/Fusion.cpp
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dc5b63e40ee697324d39fe105d6f12c2bb031fc6 |
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19-Jun-2012 |
Mathias Agopian <mathias@google.com> |
small improvement to sensor fusion 1) there was a typo when computing the system covariance a term in dT^3 was ommitted; the impact was was very limited because of how small this term is. 2) initialize the system covariance matrix with non-zero values for the gyro-bias part. this improves the initial bias estimation speed significantly. 3) added comments here and there Change-Id: I4328c9cca73e089889d5e74b9fda99d7831762dc
/frameworks/native/services/sensorservice/Fusion.cpp
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3c20fbed7f3a916ced10f2ed5a272271b7d81ede |
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06-Jan-2012 |
Steve Block <steveblock@google.com> |
Rename (IF_)LOGW(_IF) to (IF_)ALOGW(_IF) DO NOT MERGE See https://android-git.corp.google.com/g/157065 Bug: 5449033 Change-Id: I00a4b904f9449e6f93b7fd35eac28640d7929e69
/frameworks/native/services/sensorservice/Fusion.cpp
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667102f6b072582fe497599e0b760f9fc94ceffa |
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15-Sep-2011 |
Mathias Agopian <mathias@google.com> |
improve sensorservice dumpsys Change-Id: I8b53d5cab884c3aca16d95df5fbf288368d52e8b
/frameworks/native/services/sensorservice/Fusion.cpp
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a83f45c6c734084422f56733c25350625594bc00 |
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25-Aug-2011 |
Mathias Agopian <mathias@google.com> |
Fix a few style issues and remove LOG spam Change-Id: I6b6f75373f4ac28f98dea6a6f1c2567a6aa02243
/frameworks/native/services/sensorservice/Fusion.cpp
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3e87d8dadefaf4b56bf15a15f1b53928d7a12cd2 |
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19-Aug-2011 |
Michael Johnson <mpj@google.com> |
More error checks to avoid div by zero. Change-Id: I18e5b72d02bf5420c14334d3a03f18fa40572d31
/frameworks/native/services/sensorservice/Fusion.cpp
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a01b4e237d57b74689576a3d486a2b2b903e74f4 |
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18-Aug-2011 |
Max Braun <braun@google.com> |
Fix occasional fusion divergence by detecting it and resetting the fusion. Change-Id: I51186e12fb9b2316e3671e3908174f4495df89a0
/frameworks/native/services/sensorservice/Fusion.cpp
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eaf2d0bfe37415ba1e42a97608823e8dbef53220 |
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14-Jun-2011 |
Mathias Agopian <mathias@google.com> |
cleanup Kalman filter parameters, add/fix comments/units Change-Id: Iedcae7164af8f7ea0e048ea7c72d0f35d16d739f
/frameworks/native/services/sensorservice/Fusion.cpp
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3301542828febc768e1df42892cfac4992c35474 |
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28-May-2011 |
Mathias Agopian <mathias@google.com> |
use quaternions instead of MRPs also use correct time propagation equation disable the fused sensors when gyro is not present since they were unusable in practice. Change-Id: Iad797425784e67dc6c5690e97c71c583418cc5b5
/frameworks/native/services/sensorservice/Fusion.cpp
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984826cc158193e61e3a00359ef4f6699c7d748a |
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18-May-2011 |
Mathias Agopian <mathias@google.com> |
9-axis sensor fusion with Kalman filter Add support for 9-axis gravity and linear-acceleration sensors virtual orientation sensor using 9-axis fusion Change-Id: I6717539373fce781c10e97b6fa59f68a831a592f
/frameworks/native/services/sensorservice/Fusion.cpp
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