/**
* Use the magnetic field to compute true (geographic) north from the specified heading relative
* to magnetic north.
*
* @param heading the heading (in degrees) relative to magnetic north
* @return the heading (in degrees) relative to true north
*/
private float computeTrueNorth(float heading) {
if (mGeomagneticField != null) {
return heading + mGeomagneticField.getDeclination();
} else {
return heading;
}
}
private Object eventToHashMap(SensorEvent event, long timestamp) {
float x = event.values[0];
float y = event.values[1];
float z = event.values[2];
KrollDict heading = new KrollDict();
heading.put(TiC.EVENT_PROPERTY_TYPE, TiC.EVENT_HEADING);
heading.put(TiC.PROPERTY_TIMESTAMP, timestamp);
heading.put(TiC.PROPERTY_X, x);
heading.put(TiC.PROPERTY_Y, y);
heading.put(TiC.PROPERTY_Z, z);
heading.put(TiC.PROPERTY_MAGNETIC_HEADING, x);
heading.put(TiC.PROPERTY_ACCURACY, event.accuracy);
if (Log.isDebugModeEnabled()) {
switch (event.accuracy) {
case SensorManager.SENSOR_STATUS_UNRELIABLE:
Log.i(TAG, "Compass accuracy unreliable");
break;
case SensorManager.SENSOR_STATUS_ACCURACY_LOW:
Log.i(TAG, "Compass accuracy low");
break;
case SensorManager.SENSOR_STATUS_ACCURACY_MEDIUM:
Log.i(TAG, "Compass accuracy medium");
break;
case SensorManager.SENSOR_STATUS_ACCURACY_HIGH:
Log.i(TAG, "Compass accuracy high");
break;
default:
Log.w(TAG, "Unknown compass accuracy value: " + event.accuracy);
}
}
updateDeclination();
if (geomagneticField != null) {
float trueHeading = (x + geomagneticField.getDeclination() + 360) % 360;
heading.put(TiC.PROPERTY_TRUE_HEADING, trueHeading);
}
KrollDict data = new KrollDict();
data.putCodeAndMessage(TiC.ERROR_CODE_NO_ERROR, null);
data.put(TiC.PROPERTY_HEADING, heading);
return data;
}
protected TiDict eventToTiDict(SensorEvent event, long ts) {
float x = event.values[0];
float y = event.values[1];
float z = event.values[2];
TiDict heading = new TiDict();
heading.put("type", EVENT_HEADING);
heading.put("timestamp", ts);
heading.put("x", x);
heading.put("y", y);
heading.put("z", z);
heading.put("magneticHeading", x);
heading.put("accuracy", event.accuracy);
if (DBG) {
switch (event.accuracy) {
case SensorManager.SENSOR_STATUS_UNRELIABLE:
Log.i(LCAT, "Compass accuracy unreliable");
break;
case SensorManager.SENSOR_STATUS_ACCURACY_LOW:
Log.i(LCAT, "Compass accuracy low");
break;
case SensorManager.SENSOR_STATUS_ACCURACY_MEDIUM:
Log.i(LCAT, "Compass accuracy medium");
break;
case SensorManager.SENSOR_STATUS_ACCURACY_HIGH:
Log.i(LCAT, "Compass accuracy high");
break;
default:
Log.w(LCAT, "Unknown compass accuracy value: " + event.accuracy);
}
}
if (geomagneticField != null) {
float trueHeading = x - geomagneticField.getDeclination();
if (trueHeading < 0) {
trueHeading = 360 - trueHeading;
}
heading.put("trueHeading", trueHeading);
}
TiDict data = new TiDict();
data.put("heading", heading);
return data;
}
@Override
public void onSensorChanged(SensorEvent event) {
// if (!computing.compareAndSet(false, true)) return;
if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
/*smoothed = LowPassFilter.filter(event.values, grav);
grav[0] = smoothed[0];
grav[1] = smoothed[1];
grav[2] = smoothed[2];*/
grav[0] = event.values[0];
grav[1] = event.values[1];
grav[2] = event.values[2];
} else if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD) {
/* smoothed = LowPassFilter.filter(event.values, mag);
mag[0] = smoothed[0];
mag[1] = smoothed[1];
mag[2] = smoothed[2];
*/
mag[0] = event.values[0];
mag[1] = event.values[1];
mag[2] = event.values[2];
}
// Get rotation matrix given the gravity and geomagnetic matrices
SensorManager.getRotationMatrix(rotation, null, grav, mag);
SensorManager.getOrientation(rotation, orientation);
floatBearing = orientation[0];
// Convert from radians to degrees
floatBearing = Math.toDegrees(floatBearing); // degrees east of true north (180 to -180)
// Compensate for the difference between true north and magnetic north
if (gmf != null) floatBearing += gmf.getDeclination();
// adjust to 0-360
if (floatBearing < 0) floatBearing += 360;
computing.set(false);
builder.setLength(0);
builder.append("X " + rotation[0] + "\nY " + rotation[1] + "\nZ " + rotation[2] + "\n");
builder.append("X " + rotation[3] + "\nY " + rotation[4] + "\nZ " + rotation[5] + "\n");
builder.append("X " + rotation[6] + "\nY " + rotation[7] + "\nZ " + rotation[8] + "\n");
textView.setText(builder.toString());
}
/** 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);
}
}
