Fix a few style issues and remove LOG spam
Change-Id: I6b6f75373f4ac28f98dea6a6f1c2567a6aa02243
diff --git a/services/sensorservice/Fusion.cpp b/services/sensorservice/Fusion.cpp
index e6ca2cc..0ab86c3 100644
--- a/services/sensorservice/Fusion.cpp
+++ b/services/sensorservice/Fusion.cpp
@@ -50,33 +50,38 @@
static const float SYMMETRY_TOLERANCE = 1e-10f;
/*
- * Accelerometer updates will not be performed near free fall to avoid ill-conditioning and
- * div by zeros.
+ * Accelerometer updates will not be performed near free fall to avoid
+ * ill-conditioning and div by zeros.
* Threshhold: 10% of g, in m/s^2
*/
static const float FREE_FALL_THRESHOLD = 0.981f;
-static const float FREE_FALL_THRESHOLD_SQ = FREE_FALL_THRESHOLD*FREE_FALL_THRESHOLD;
+static const float FREE_FALL_THRESHOLD_SQ =
+ FREE_FALL_THRESHOLD*FREE_FALL_THRESHOLD;
/*
* The geomagnetic-field should be between 30uT and 60uT.
- * Fields strengths greater than this likely indicate a local magnetic disturbance which
- * we do not want to update into the fused frame.
+ * Fields strengths greater than this likely indicate a local magnetic
+ * disturbance which we do not want to update into the fused frame.
*/
static const float MAX_VALID_MAGNETIC_FIELD = 100; // uT
-static const float MAX_VALID_MAGNETIC_FIELD_SQ = MAX_VALID_MAGNETIC_FIELD*MAX_VALID_MAGNETIC_FIELD;
+static const float MAX_VALID_MAGNETIC_FIELD_SQ =
+ MAX_VALID_MAGNETIC_FIELD*MAX_VALID_MAGNETIC_FIELD;
/*
- * Values of the field smaller than this should be ignored in fusion to avoid ill-conditioning.
- * This state can happen with anomalous local magnetic disturbances canceling the Earth field.
+ * Values of the field smaller than this should be ignored in fusion to avoid
+ * ill-conditioning. This state can happen with anomalous local magnetic
+ * disturbances canceling the Earth field.
*/
static const float MIN_VALID_MAGNETIC_FIELD = 10; // uT
-static const float MIN_VALID_MAGNETIC_FIELD_SQ = MIN_VALID_MAGNETIC_FIELD*MIN_VALID_MAGNETIC_FIELD;
+static const float MIN_VALID_MAGNETIC_FIELD_SQ =
+ MIN_VALID_MAGNETIC_FIELD*MIN_VALID_MAGNETIC_FIELD;
/*
- * If the cross product of two vectors has magnitude squared less than this, we reject it as
- * invalid due to alignment of the vectors.
- * This threshold is used to check for the case where the magnetic field sample is parallel to
- * the gravity field, which can happen in certain places due to magnetic field disturbances.
+ * If the cross product of two vectors has magnitude squared less than this,
+ * we reject it as invalid due to alignment of the vectors.
+ * This threshold is used to check for the case where the magnetic field sample
+ * is parallel to the gravity field, which can happen in certain places due
+ * to magnetic field disturbances.
*/
static const float MIN_VALID_CROSS_PRODUCT_MAG = 1.0e-3;
static const float MIN_VALID_CROSS_PRODUCT_MAG_SQ =
@@ -273,7 +278,6 @@
status_t Fusion::handleAcc(const vec3_t& a) {
// ignore acceleration data if we're close to free-fall
if (length_squared(a) < FREE_FALL_THRESHOLD_SQ) {
- LOGW("handleAcc: near free fall, not updating!");
return BAD_VALUE;
}
@@ -290,29 +294,31 @@
// reject if too large to avoid spurious magnetic sources
const float magFieldSq = length_squared(m);
if (magFieldSq > MAX_VALID_MAGNETIC_FIELD_SQ) {
- LOGW("handleMag: magnetic field too large, not updating!");
return BAD_VALUE;
} else if (magFieldSq < MIN_VALID_MAGNETIC_FIELD_SQ) {
- // Also reject if too small since we will get ill-defined (zero mag) cross-products below
- LOGW("handleMag: magnetic field too small, not updating!");
+ // Also reject if too small since we will get ill-defined (zero mag)
+ // cross-products below
return BAD_VALUE;
}
if (!checkInitComplete(MAG, m))
return BAD_VALUE;
- // Orthogonalize the magnetic field to the gravity field, mapping it into tangent to Earth.
+ // Orthogonalize the magnetic field to the gravity field, mapping it into
+ // tangent to Earth.
const vec3_t up( getRotationMatrix() * Ba );
const vec3_t east( cross_product(m, up) );
- // If the m and up vectors align, the cross product magnitude will approach 0.
- // Reject this case as well to avoid div by zero problems and ill-conditioning below.
+ // If the m and up vectors align, the cross product magnitude will
+ // approach 0.
+ // Reject this case as well to avoid div by zero problems and
+ // ill-conditioning below.
if (length_squared(east) < MIN_VALID_CROSS_PRODUCT_MAG_SQ) {
- LOGW("handleMag: magnetic field too aligned with up vector, not updating!");
return BAD_VALUE;
}
- // If we have created an orthogonal magnetic field successfully, then pass it in as the update.
+ // If we have created an orthogonal magnetic field successfully,
+ // then pass it in as the update.
vec3_t north( cross_product(up, east) );
const float l = 1 / length(north);