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fix azimuth drift of the compass
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Use the average pivot to generate the readable value
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janbar committed Sep 22, 2024
1 parent 28ad36f commit 30ff956
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Showing 2 changed files with 29 additions and 4 deletions.
29 changes: 25 additions & 4 deletions src/compass/genericcompass.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,8 @@
#include <qmath.h>

#define RADIANS_TO_DEGREES 57.2957795
#define AVG_THRESHOLD 10.0
#define AVG_BASECOUNT 9

char const * const GenericCompass::id("builtin.compass");

Expand Down Expand Up @@ -144,10 +146,29 @@ void GenericCompass::checkValues()
_fusedOrientation[0] = _orientation[0];
}
qreal newAzimuth = _fusedOrientation[0] * RADIANS_TO_DEGREES;
if (_compassReading.azimuth() != newAzimuth) { // TODO: run thru collection of QCompassFilter
_compassReading.setAzimuth(newAzimuth);
_compassReading.setTimestamp(produceTimestamp());
newReadingAvailable();

qreal gap = newAzimuth - _value;
gap += (gap > 180.0 ? -360.0 : gap < -180.0 ? 360.0 : 0);
if (std::abs(gap) < AVG_THRESHOLD) {
_gaps.push_back(gap);
qreal sum = 0.0;
for (auto v : _gaps) sum += v;
newAzimuth = _value + std::round(sum / _gaps.size());
newAzimuth += (newAzimuth < 0 ? 360.0 : newAzimuth >= 360.0 ? -360.0 : 0);
} else {
_gaps.clear();
_gaps.push_back(0);
_value = newAzimuth;
}

if (std::abs(newAzimuth - _compassReading.azimuth()) > 1.0) { // TODO: run thru collection of QCompassFilter
_compassReading.setAzimuth(newAzimuth);
_compassReading.setTimestamp(produceTimestamp());
emit newReadingAvailable();
}

if (_gaps.size() > AVG_BASECOUNT) {
_gaps.pop_front();
}
}
}
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4 changes: 4 additions & 0 deletions src/compass/genericcompass.h
Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,7 @@
#include <QMagnetometer>
#include <QGyroscope>
#include <qsensorbackend.h>
#include <list>

#define FILTER_COEFFICIENT 0.98f
#define EPSILON 0.000000001f
Expand Down Expand Up @@ -88,6 +89,9 @@ class GenericCompass : public QSensorBackend
float _timestamp;
bool _initState;

qreal _value;
std::list<qreal> _gaps;

void checkValues();
void calculateFusedOrientation();
float *matrixMultiplication(float *A, float *B);
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