fix [3369027] Sensor.TYPE_ROTATION_VECTOR is unstable and returns NaNs when running slowly
The cut-off frequency of the lowpass filter was too high
for the sampling rate used by DELAY_NORMAL.
Now we use the same filters used for the gravity vector
(cascaded biquad at 1.5 Hz)
Change-Id: Iac290a716cc47a78337a8f0e45b103e49b4d9d78
diff --git a/services/sensorservice/RotationVectorSensor.cpp b/services/sensorservice/RotationVectorSensor.cpp
index 418e7f8..3abfc12 100644
--- a/services/sensorservice/RotationVectorSensor.cpp
+++ b/services/sensorservice/RotationVectorSensor.cpp
@@ -34,9 +34,9 @@
RotationVectorSensor::RotationVectorSensor(sensor_t const* list, size_t count)
: mSensorDevice(SensorDevice::getInstance()),
- mALowPass(M_SQRT1_2, 5.0f),
+ mALowPass(M_SQRT1_2, 1.5f),
mAX(mALowPass), mAY(mALowPass), mAZ(mALowPass),
- mMLowPass(M_SQRT1_2, 2.5f),
+ mMLowPass(M_SQRT1_2, 1.5f),
mMX(mMLowPass), mMY(mMLowPass), mMZ(mMLowPass)
{
for (size_t i=0 ; i<count ; i++) {
diff --git a/services/sensorservice/RotationVectorSensor.h b/services/sensorservice/RotationVectorSensor.h
index b7c9512..17699f8 100644
--- a/services/sensorservice/RotationVectorSensor.h
+++ b/services/sensorservice/RotationVectorSensor.h
@@ -38,9 +38,9 @@
double mAccTime;
double mMagTime;
SecondOrderLowPassFilter mALowPass;
- BiquadFilter mAX, mAY, mAZ;
+ CascadedBiquadFilter mAX, mAY, mAZ;
SecondOrderLowPassFilter mMLowPass;
- BiquadFilter mMX, mMY, mMZ;
+ CascadedBiquadFilter mMX, mMY, mMZ;
public:
RotationVectorSensor(sensor_t const* list, size_t count);