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Show the average rotation rates, too.

Andrzej Kapolka committed 13 years ago

Commit e77aee31 parent d913f8d3 files · +9 −3Browse files

Showing the changes to interface/src/SerialInterface.cpp (1 of 3 files). Show all

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interface/src/SerialInterface.cpp+6−1
@@ -236,6 +236,11 @@ void SerialInterface::readData(float deltaTime) { · 235 unmodified lines
236 glm::vec3 angularAcceleration = (deltaTime < EPSILON) ? glm::vec3() : (rotationRates - _lastRotationRates) / deltaTime;236 glm::vec3 angularAcceleration = (deltaTime < EPSILON) ? glm::vec3() : (rotationRates - _lastRotationRates) / deltaTime;
237 _lastRotationRates = rotationRates;237 _lastRotationRates = rotationRates;
238 238
239 _averageRotationRates = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageRotationRates +
240 1.f/(float)LONG_TERM_RATE_SAMPLES * _lastRotationRates;
241
242 printLog("r: %g %g %g\n", _averageRotationRates.x, _averageRotationRates.y, _averageRotationRates.z);
243
239 // Update raw rotation estimates244 // Update raw rotation estimates
240 glm::quat estimatedRotation = glm::quat(glm::radians(_estimatedRotation)) *245 glm::quat estimatedRotation = glm::quat(glm::radians(_estimatedRotation)) *
241 glm::quat(glm::radians(deltaTime * _lastRotationRates));246 glm::quat(glm::radians(deltaTime * _lastRotationRates));
@@ -247,7 +252,7 @@ void SerialInterface::readData(float deltaTime) { · 5 unmodified lines
247 _averageAcceleration = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageAcceleration +252 _averageAcceleration = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageAcceleration +
248 1.f/(float)LONG_TERM_RATE_SAMPLES * _estimatedAcceleration;253 1.f/(float)LONG_TERM_RATE_SAMPLES * _estimatedAcceleration;
249 254
250 printLog("%g %g %g\n", _averageAcceleration.x, _averageAcceleration.y, _averageAcceleration.z);255 printLog("a: %g %g %g\n", _averageAcceleration.x, _averageAcceleration.y, _averageAcceleration.z);
251 256
252 // Consider updating our angular velocity/acceleration to linear acceleration mapping257 // Consider updating our angular velocity/acceleration to linear acceleration mapping
253 if (glm::length(_estimatedAcceleration) > EPSILON &&258 if (glm::length(_estimatedAcceleration) > EPSILON &&