/** This function registers sensor listeners for the accelerometer, magnetometer and gyroscope. */
private void initListeners() {
sensorMgr = (SensorManager) mContext.getSystemService(Activity.SENSOR_SERVICE);
fuseTimer = new Timer();
sensors = sensorMgr.getSensorList(Sensor.TYPE_ACCELEROMETER);
if (sensors.size() > 0) {
sensorGravRunning = false;
sensorGrav = sensorMgr.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
sensorMgr.registerListener(this, sensorGrav, sensorRate);
}
sensors = sensorMgr.getSensorList(Sensor.TYPE_MAGNETIC_FIELD);
if (sensors.size() > 0) {
sensorMagRunning = false;
sensorMag = sensorMgr.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
sensorMgr.registerListener(this, sensorMag, sensorRate);
}
sensors = sensorMgr.getSensorList(Sensor.TYPE_GYROSCOPE);
if (sensors.size() > 0) {
sensorGyroRunning = false;
sensorGyro = sensorMgr.getDefaultSensor(Sensor.TYPE_GYROSCOPE);
sensorMgr.registerListener(this, sensorGyro, sensorRate);
fuseTimer.scheduleAtFixedRate(
new calculateFusedOrientationTask(), 1000, TIME_CONSTANT); // use the gyro
NLog.d(TAG, "initListeners() - " + "Gyro found");
} else {
fuseTimer.scheduleAtFixedRate(
new calculateUnfusedOrientationTask(), 1000, TIME_CONSTANT); // don't use the gyro
NLog.d(TAG, "initListeners() - " + "No gyro found");
}
locationMgr = (LocationManager) mContext.getSystemService(Context.LOCATION_SERVICE);
locationMgr.requestLocationUpdates(LocationManager.GPS_PROVIDER, MIN_TIME, MIN_DISTANCE, this);
try {
Location gps = locationMgr.getLastKnownLocation(LocationManager.GPS_PROVIDER);
Location network = locationMgr.getLastKnownLocation(LocationManager.NETWORK_PROVIDER);
if (gps != null) onLocationChanged(gps);
else if (network != null) onLocationChanged(network);
else onLocationChanged(NCompassARData.hardFix);
} catch (Exception ex2) {
onLocationChanged(NCompassARData.hardFix);
}
float angleY = -90 * toRadians;
gmf =
new GeomagneticField(
(float) NCompassARData.getCurrentLocation().getLatitude(),
(float) NCompassARData.getCurrentLocation().getLongitude(),
(float) NCompassARData.getCurrentLocation().getAltitude(),
System.currentTimeMillis());
angleY = -gmf.getDeclination() * toRadians;
synchronized (mageticNorthCompensation) {
mageticNorthCompensation.toIdentity();
// Counter-clockwise rotation at negative declination around the y-axis
// note2: declination is the difference between true north and magnetic north
mageticNorthCompensation.set(
FloatMath.cos(angleY),
0f,
FloatMath.sin(angleY),
0f,
1f,
0f,
-FloatMath.sin(angleY),
0f,
FloatMath.cos(angleY));
// Rotate the matrix to match the orientation
mageticNorthCompensation.prod(xAxisRotation);
}
}
