From deb622c462b32097dbb9605ba416eb63797ec240 Mon Sep 17 00:00:00 2001 From: Michal Skorupinski Date: Tue, 25 Sep 2018 15:40:11 +0200 Subject: [PATCH] Swapped sensor axes Change-Id: I247297613ca431b7c2ce0278d7238e81ecd4d521 Signed-off-by: Michal Skorupinski --- src/config.c | 8 ++++---- src/model/model_sensors.c | 6 +++--- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/config.c b/src/config.c index e4c88b4..e3b178e 100644 --- a/src/config.c +++ b/src/config.c @@ -55,7 +55,7 @@ void config_set_sensor_steering_bezel_velocity() model_hw_set_bezel_params(BEZEL_SLOW_STEP, BEZEL_DEADZONE, true, BEZEL_BLOCKER_STEPS, true); model_hw_set_bezel_max_min(-MAX_BEZEL_VALUE, MAX_BEZEL_VALUE); - model_sensors_set_acceleration_sensor_params(MAX_DIRECTION, MAX_ABSOLOUTE_SENSORS_OUTPUT_VALUE, DIRECTION_DEADZONE, FINAL_SENSOR_MULTIPLIER, false, 0, 0); + model_sensors_set_acceleration_sensor_params(MAX_DIRECTION, MAX_ABSOLOUTE_SENSORS_OUTPUT_VALUE, DIRECTION_DEADZONE, -FINAL_SENSOR_MULTIPLIER, false, 0, 0); model_sensors_set_gravity_sensor_params(MAX_GRAVITY, MAX_INCREMENTAL_OUTPUT_VALUE, INCREMENTAL_MODE_GRAVITY_DEADZONE, FINAL_SENSOR_MULTIPLIER, true, -MAX_INCREMENTAL_VALUE, MAX_INCREMENTAL_VALUE); //camera view_racing_set_button_params(-MAX_BUTTON_VALUE, MAX_BUTTON_VALUE, CAM_AZIMUTH_STEP); @@ -68,7 +68,7 @@ void config_set_bezel_steering_sensor_velocity() model_hw_set_bezel_params(-BEZEL_FAST_STEP, BEZEL_DEADZONE, false, 0, false); model_hw_set_bezel_max_min(-MAX_BEZEL_VALUE, MAX_BEZEL_VALUE); - model_sensors_set_acceleration_sensor_params(MAX_DIRECTION, MAX_INCREMENTAL_OUTPUT_VALUE, INCREMENTAL_MODE_ACC_DEADZONE, -FINAL_SENSOR_MULTIPLIER, true, -MAX_INCREMENTAL_VALUE, MAX_INCREMENTAL_VALUE); //camera + model_sensors_set_acceleration_sensor_params(MAX_DIRECTION, MAX_INCREMENTAL_OUTPUT_VALUE, INCREMENTAL_MODE_ACC_DEADZONE, FINAL_SENSOR_MULTIPLIER, true, -MAX_INCREMENTAL_VALUE, MAX_INCREMENTAL_VALUE); //camera model_sensors_set_gravity_sensor_params(MAX_GRAVITY, MAX_ABSOLOUTE_SENSORS_OUTPUT_VALUE, GRAVITY_DEADZONE, FINAL_SENSOR_MULTIPLIER, false, 0.0f, 0.0f); view_racing_set_button_params(-MAX_BUTTON_VALUE, MAX_ELEVATION_VALUE, -CAM_AZIMUTH_STEP); @@ -81,7 +81,7 @@ void config_set_sensor_steering_sensor_velocity_bezel_elev() model_hw_set_bezel_params(BEZEL_SLOW_STEP, BEZEL_DEADZONE, false, 0, false); model_hw_set_bezel_max_min(-MAX_BEZEL_VALUE, MAX_ELEVATION_VALUE); - model_sensors_set_acceleration_sensor_params(MAX_DIRECTION, MAX_ABSOLOUTE_SENSORS_OUTPUT_VALUE, DIRECTION_DEADZONE, FINAL_SENSOR_MULTIPLIER, false, 0.0f, 0.0f); + model_sensors_set_acceleration_sensor_params(MAX_DIRECTION, MAX_ABSOLOUTE_SENSORS_OUTPUT_VALUE, DIRECTION_DEADZONE, -FINAL_SENSOR_MULTIPLIER, false, 0.0f, 0.0f); model_sensors_set_gravity_sensor_params(MAX_GRAVITY, MAX_ABSOLOUTE_SENSORS_OUTPUT_VALUE, GRAVITY_DEADZONE, FINAL_SENSOR_MULTIPLIER, false, 0.0f, 0.0f); view_racing_set_button_params(-MAX_BUTTON_VALUE, MAX_BUTTON_VALUE, CAM_AZIMUTH_STEP); @@ -94,7 +94,7 @@ void config_set_sensor_steering_sensor_velocity_bezel_azimuth() model_hw_set_bezel_params(BEZEL_SLOW_STEP, BEZEL_DEADZONE, false, 0, false); model_hw_set_bezel_max_min(-MAX_BEZEL_VALUE, MAX_BEZEL_VALUE); - model_sensors_set_acceleration_sensor_params(MAX_DIRECTION, MAX_ABSOLOUTE_SENSORS_OUTPUT_VALUE, DIRECTION_DEADZONE, FINAL_SENSOR_MULTIPLIER, false, 0.0f, 0.0f); + model_sensors_set_acceleration_sensor_params(MAX_DIRECTION, MAX_ABSOLOUTE_SENSORS_OUTPUT_VALUE, DIRECTION_DEADZONE, -FINAL_SENSOR_MULTIPLIER, false, 0.0f, 0.0f); model_sensors_set_gravity_sensor_params(MAX_GRAVITY, MAX_ABSOLOUTE_SENSORS_OUTPUT_VALUE, GRAVITY_DEADZONE, FINAL_SENSOR_MULTIPLIER, false, 0.0f, 0.0f); view_racing_set_button_params(-MAX_BUTTON_VALUE, MAX_ELEVATION_VALUE, -CAM_AZIMUTH_STEP); diff --git a/src/model/model_sensors.c b/src/model/model_sensors.c index 55fa708..34ee7c9 100644 --- a/src/model/model_sensors.c +++ b/src/model/model_sensors.c @@ -123,7 +123,7 @@ static void _sensor_accelerometer_event_cb(sensor_h sensor_accelerometer, sensor vector_diff(event->values, s_info.initial_sensor_accelerometer_data, &vector[0], 3); - float acceleration = vector[0]; + float acceleration = vector[1]; acceleration = _get_average_parameter_from_history(acceleration, &s_info.acceleration_sensor); acceleration = _get_position_in_deadzone(acceleration, s_info.acceleration_sensor_params.deadzone); @@ -225,8 +225,8 @@ void model_sensors_sensor_gravity_set_initial_values(void) vector3_rotation_matrix(s_info.initial_sensor_gravity_data, reference_vector, rotation_matrix); //With previous assumption, the greatest speed should be achievable with vector [0,1,0] (device facing walls). - reference_vector[0] = 0; - reference_vector[1] = -1; + reference_vector[0] = -1; + reference_vector[1] = 0; reference_vector[2] = 0; vector_matrix_multiply(&rotation_matrix[0][0], &reference_vector[0], &s_info.velocity_reference_vector[0], 3); -- 2.7.4