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Fix rest detection timescale #305
Fix rest detection timescale #305
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Sensor fusion expects the time to be in seconds while rest detection expects it to be in microseconds. This makes is so when the update sensor fusion is called the rest detection now gets the time in micros
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The time scale can probably be moved to |
I changed the rest detection to be in seconds instead of in microseconds like it was before. I am not able to test this. The best way to test would be see if you can still calibrate a bmi160. |
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Tested, need to change the types to sensor_real_t
, otherwise it all gets rounded and deltas become 0.
Also minor inconsistency with tabs/spaces, but we need to fix that across the whole codebase honestly.
src/motionprocessing/RestDetection.h
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@@ -20,14 +20,14 @@ | |||
struct RestDetectionParams { | |||
sensor_real_t biasClip; | |||
sensor_real_t biasSigmaRest; | |||
uint32_t restMinTimeMicros; | |||
uint32_t restMinTime; |
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uint32_t
-> sensor_real_t
src/motionprocessing/RestDetection.h
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@@ -235,7 +235,7 @@ class RestDetection { | |||
private: | |||
RestDetectionParams params; | |||
bool restDetected; | |||
uint32_t restTimeMicros; | |||
uint32_t restTime; |
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uint32_t
-> sensor_real_t
src/motionprocessing/RestDetection.h
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restDetected = false; | ||
} | ||
#endif | ||
} | ||
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void updateAcc(uint32_t dtMicros, sensor_real_t acc[3]) { | ||
void updateAcc(uint32_t dt, sensor_real_t acc[3]) { |
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uint32_t
-> sensor_real_t
Sensor fusion expects the time to be in seconds while rest detection expects it to be in microseconds. This makes is so when the update sensor fusion is called the rest detection now gets the time in micros Co-authored-by: Eiren Rain <Eirenliel@users.noreply.github.com>
Sensor fusion expects the time to be in seconds while rest detection expects it to be in microseconds. This makes is so when the update sensor fusion is called the rest detection now gets the time in micros. Also linear acceleration was missing parentheses giving wrong results (only lsm6dsv uses this to my knowledge)