From 485e8516022ef0553f7a1e8c480a1f27790738a8 Mon Sep 17 00:00:00 2001 From: Ramasamy Date: Fri, 24 Jul 2015 16:49:10 +0900 Subject: [PATCH 01/16] Cleanup of old data and results for sensor fusion - removed results folder, as this is also captured in documentation. - removed unused old data for sensor fusion. - updated readme file. Change-Id: I325147a0587fcd41780c5f26da593071b9edb33a --- .../100ms/gravity/orientation_change/accel.txt | 527 ------------- .../data/100ms/gravity/orientation_change/gyro.txt | 529 ------------- .../100ms/gravity/orientation_change/magnetic.txt | 524 ------------- .../design/data/100ms/gravity/throw/accel.txt | 135 ---- .../design/data/100ms/gravity/throw/gyro.txt | 136 ---- .../design/data/100ms/gravity/throw/magnetic.txt | 136 ---- .../100ms/linear_acceleration/move_x/accel.txt | 134 ---- .../data/100ms/linear_acceleration/move_x/gyro.txt | 134 ---- .../100ms/linear_acceleration/move_x/magnetic.txt | 135 ---- .../100ms/linear_acceleration/move_y/accel.txt | 128 ---- .../data/100ms/linear_acceleration/move_y/gyro.txt | 128 ---- .../100ms/linear_acceleration/move_y/magnetic.txt | 127 ---- .../100ms/linear_acceleration/move_z/accel.txt | 183 ----- .../data/100ms/linear_acceleration/move_z/gyro.txt | 183 ----- .../100ms/linear_acceleration/move_z/magnetic.txt | 183 ----- .../design/data/100ms/orientation/pitch/accel.txt | 671 ---------------- .../design/data/100ms/orientation/pitch/gyro.txt | 672 ---------------- .../data/100ms/orientation/pitch/magnetic.txt | 673 ---------------- .../design/data/100ms/orientation/roll/accel.txt | 840 -------------------- .../design/data/100ms/orientation/roll/gyro.txt | 840 -------------------- .../data/100ms/orientation/roll/magnetic.txt | 842 --------------------- .../design/data/100ms/orientation/yaw/accel.txt | 664 ---------------- .../design/data/100ms/orientation/yaw/gyro.txt | 664 ---------------- .../design/data/100ms/orientation/yaw/magnetic.txt | 664 ---------------- src/sensor_fusion/design/readme | 9 +- .../gravity/gravity_output_single_roll_throw.png | Bin 81851 -> 0 bytes .../linear_acceleration_on_x_y_z_axis.png | Bin 79371 -> 0 bytes .../corrected_orientation_with_sensor_fusion.png | Bin 79806 -> 0 bytes .../orientation_without_sensor_fusion.png | Bin 145789 -> 0 bytes 29 files changed, 3 insertions(+), 9858 deletions(-) delete mode 100755 src/sensor_fusion/design/data/100ms/gravity/orientation_change/accel.txt delete mode 100755 src/sensor_fusion/design/data/100ms/gravity/orientation_change/gyro.txt delete mode 100755 src/sensor_fusion/design/data/100ms/gravity/orientation_change/magnetic.txt delete mode 100755 src/sensor_fusion/design/data/100ms/gravity/throw/accel.txt delete mode 100755 src/sensor_fusion/design/data/100ms/gravity/throw/gyro.txt delete mode 100755 src/sensor_fusion/design/data/100ms/gravity/throw/magnetic.txt delete mode 100755 src/sensor_fusion/design/data/100ms/linear_acceleration/move_x/accel.txt delete mode 100755 src/sensor_fusion/design/data/100ms/linear_acceleration/move_x/gyro.txt delete mode 100755 src/sensor_fusion/design/data/100ms/linear_acceleration/move_x/magnetic.txt delete mode 100755 src/sensor_fusion/design/data/100ms/linear_acceleration/move_y/accel.txt delete mode 100755 src/sensor_fusion/design/data/100ms/linear_acceleration/move_y/gyro.txt delete mode 100755 src/sensor_fusion/design/data/100ms/linear_acceleration/move_y/magnetic.txt delete mode 100755 src/sensor_fusion/design/data/100ms/linear_acceleration/move_z/accel.txt delete mode 100755 src/sensor_fusion/design/data/100ms/linear_acceleration/move_z/gyro.txt delete mode 100755 src/sensor_fusion/design/data/100ms/linear_acceleration/move_z/magnetic.txt delete mode 100755 src/sensor_fusion/design/data/100ms/orientation/pitch/accel.txt delete mode 100755 src/sensor_fusion/design/data/100ms/orientation/pitch/gyro.txt delete mode 100755 src/sensor_fusion/design/data/100ms/orientation/pitch/magnetic.txt delete mode 100755 src/sensor_fusion/design/data/100ms/orientation/roll/accel.txt delete mode 100755 src/sensor_fusion/design/data/100ms/orientation/roll/gyro.txt delete mode 100755 src/sensor_fusion/design/data/100ms/orientation/roll/magnetic.txt delete mode 100755 src/sensor_fusion/design/data/100ms/orientation/yaw/accel.txt delete mode 100755 src/sensor_fusion/design/data/100ms/orientation/yaw/gyro.txt delete mode 100755 src/sensor_fusion/design/data/100ms/orientation/yaw/magnetic.txt delete mode 100755 src/sensor_fusion/design/results/gravity/gravity_output_single_roll_throw.png delete mode 100755 src/sensor_fusion/design/results/linear_acceleration/linear_acceleration_on_x_y_z_axis.png delete mode 100755 src/sensor_fusion/design/results/orientation/corrected_orientation_with_sensor_fusion.png delete mode 100755 src/sensor_fusion/design/results/orientation/orientation_without_sensor_fusion.png diff --git a/src/sensor_fusion/design/data/100ms/gravity/orientation_change/accel.txt b/src/sensor_fusion/design/data/100ms/gravity/orientation_change/accel.txt deleted file mode 100755 index adc32ff..0000000 --- a/src/sensor_fusion/design/data/100ms/gravity/orientation_change/accel.txt +++ /dev/null @@ -1,527 +0,0 @@ --0.013161 0.173480 10.108479 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72415544.000000 --2.800000 -31.832500 3.325000 72515776.000000 --3.482500 -27.597500 2.660000 72615624.000000 --4.025000 -42.647499 2.362500 72715968.000000 --3.482500 -40.267502 2.905000 72815680.000000 --4.567500 -35.332500 2.222500 72915624.000000 --4.900000 -27.667500 2.345000 73015680.000000 --3.692500 -33.267502 2.765000 73115568.000000 --4.462500 -41.982502 2.782500 73215728.000000 --2.975000 -19.022501 3.045000 73315912.000000 --3.115000 -21.507500 2.975000 73415816.000000 --4.217500 -10.517500 2.555000 73516176.000000 --4.812500 -8.452500 2.432500 73615616.000000 --2.397500 -9.502500 2.660000 73715672.000000 --5.582500 -14.017500 2.467500 73815896.000000 --4.620000 -20.982500 2.432500 73915800.000000 --2.712500 -4.777500 2.397500 74015584.000000 --3.290000 -4.112500 2.345000 74116056.000000 --3.815000 -6.317500 2.362500 74215920.000000 --5.600000 3.307500 2.065000 74315896.000000 --5.495000 -1.382500 2.222500 74416336.000000 --5.477500 -0.192500 2.187500 74515672.000000 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76716048.000000 --5.477500 4.322500 2.065000 76817984.000000 --5.460000 -1.067500 2.222500 76916248.000000 --5.477500 1.557500 2.100000 77016784.000000 --5.477500 -0.577500 2.222500 77117336.000000 --5.442500 1.312500 2.170000 77216880.000000 --6.947500 7.332500 1.855000 77316880.000000 --9.205000 3.482500 1.890000 77416256.000000 --5.460000 2.082500 2.065000 77516120.000000 --5.460000 0.402500 2.152500 77616120.000000 --5.460000 -0.682500 2.222500 77716664.000000 --5.460000 -0.122500 2.135000 77816376.000000 --5.425000 1.382500 2.187500 77916344.000000 --5.512500 -1.872500 2.205000 78016184.000000 --5.460000 0.087500 2.152500 78115880.000000 --5.460000 -0.962500 2.187500 78216240.000000 --5.495000 -4.357500 2.240000 78319456.000000 --5.477500 -2.152500 2.170000 78415848.000000 --5.460000 -0.997500 2.135000 78515632.000000 --5.442500 -1.312500 2.152500 78615816.000000 --14.455000 3.342500 1.715000 78715736.000000 --6.177500 0.997500 2.100000 78815880.000000 --4.515000 3.237500 2.030000 78916168.000000 --5.407500 3.412500 2.065000 79016120.000000 --5.425000 -1.242500 2.222500 79116360.000000 --5.442500 0.192500 2.100000 79216496.000000 --5.477500 0.542500 2.100000 79316552.000000 --5.477500 1.557500 2.082500 79416608.000000 --5.477500 -3.202500 2.205000 79516536.000000 --5.477500 2.607500 2.100000 79616112.000000 --5.442500 2.852500 2.135000 79716528.000000 --5.477500 -1.802500 2.187500 79816024.000000 --5.547500 -4.987500 2.240000 79916632.000000 --5.547500 -1.767500 2.135000 80019072.000000 --5.460000 -1.417500 2.275000 80116912.000000 --5.495000 2.677500 2.082500 80216504.000000 --5.425000 2.782500 2.117500 80316208.000000 --5.477500 3.272500 2.135000 80417336.000000 --5.547500 -6.527500 2.362500 80516736.000000 --5.372500 -2.677500 2.240000 80616688.000000 --5.477500 -1.102500 2.205000 80716336.000000 --5.582500 -6.352500 2.240000 80816768.000000 --5.057500 -4.497500 2.205000 80916720.000000 --5.495000 -1.452500 2.205000 81016416.000000 --5.495000 -0.472500 2.100000 81116472.000000 --5.495000 0.507500 2.187500 81215568.000000 --5.547500 3.097500 2.082500 81316728.000000 --5.460000 5.022500 2.065000 81415648.000000 --5.477500 1.207500 2.117500 81516808.000000 --5.460000 2.047500 2.152500 81616832.000000 --5.582500 -5.582500 2.257500 81716000.000000 --5.512500 -3.132500 2.205000 81815856.000000 --5.495000 -2.257500 2.135000 81915568.000000 --5.460000 3.482500 2.117500 82020224.000000 --5.355000 8.067500 2.012500 82120400.000000 --5.512500 -1.522500 2.310000 82220664.000000 --5.390000 5.267500 2.100000 82320744.000000 --5.477500 0.122500 2.152500 82420384.000000 --5.442500 1.557500 2.065000 82520848.000000 --5.145000 0.297500 2.257500 82620736.000000 --5.127500 15.242500 2.205000 82720448.000000 --1.960000 29.487499 1.960000 82820752.000000 --1.557500 23.747499 2.275000 82920520.000000 --5.110000 19.617500 1.750000 83020720.000000 --7.962500 23.502501 1.172500 83120552.000000 --6.807500 27.072500 1.820000 83221848.000000 --2.222500 36.452499 3.342500 83320416.000000 --0.455000 44.642502 4.130000 83420520.000000 --5.670000 47.372501 2.450000 83520496.000000 --7.227500 54.442501 2.187500 83620480.000000 --6.860000 47.792500 2.502500 83720880.000000 --10.430000 47.582500 -1.750000 83820472.000000 --7.700000 43.242500 -0.175000 83923216.000000 --4.200000 56.367500 3.080000 84021232.000000 --1.610000 49.962502 6.527500 84121888.000000 --4.777500 70.612503 2.450000 84221560.000000 --5.582500 66.552498 1.172500 84321512.000000 --5.757500 58.257500 0.385000 84421480.000000 --4.217500 52.552502 5.600000 84521200.000000 --4.462500 54.092499 5.372500 84622384.000000 --4.305000 27.527500 6.020000 84721264.000000 --5.302500 6.212500 1.575000 84823144.000000 --5.337500 3.377500 3.465000 84921544.000000 --5.582500 2.572500 3.080000 85021248.000000 --5.792500 4.112500 1.032500 85122584.000000 --5.635000 7.507500 2.625000 85221968.000000 --5.635000 8.592500 2.905000 85320784.000000 --6.247500 12.092500 -1.050000 85420528.000000 --5.670000 14.717500 0.875000 85520768.000000 --5.197500 0.997500 2.800000 85620376.000000 --5.127500 1.452500 2.380000 85720448.000000 -1.120000 27.562500 -0.437500 85820712.000000 --5.337500 0.752500 2.275000 85920544.000000 --5.442500 0.297500 2.187500 86020704.000000 --5.897500 11.882500 2.712500 86120528.000000 --5.530000 1.697500 2.275000 86220776.000000 --5.425000 -0.297500 2.257500 86320544.000000 --5.442500 0.157500 2.135000 86420576.000000 --5.460000 0.262500 2.100000 86520728.000000 --5.460000 0.262500 2.152500 86620424.000000 --5.460000 0.262500 2.117500 86720784.000000 --5.460000 0.227500 2.135000 86820488.000000 --5.495000 0.227500 2.100000 86920752.000000 --5.425000 0.227500 2.082500 87020784.000000 --5.460000 0.262500 2.187500 87120720.000000 --5.495000 0.262500 2.135000 87220664.000000 --5.442500 0.192500 2.135000 87320768.000000 --5.460000 0.577500 2.082500 87420384.000000 --5.477500 -0.122500 2.135000 87520392.000000 --5.495000 0.297500 2.135000 87620712.000000 --5.442500 0.297500 2.117500 87720496.000000 --5.460000 0.227500 2.117500 87820496.000000 --5.477500 0.262500 2.152500 87920456.000000 --5.495000 0.262500 2.117500 88020480.000000 --5.495000 0.192500 2.100000 88120728.000000 --5.495000 0.192500 2.117500 88220608.000000 --5.512500 0.227500 2.117500 88320840.000000 --5.477500 0.262500 2.135000 88420456.000000 --5.460000 0.192500 2.117500 88520448.000000 --5.390000 -0.192500 2.170000 88620544.000000 --5.547500 1.102500 2.187500 88720544.000000 --5.442500 -0.157500 2.222500 88820600.000000 --5.477500 0.017500 2.135000 88920608.000000 --5.442500 0.262500 2.135000 89020696.000000 --5.477500 0.262500 2.100000 89120512.000000 --5.460000 0.227500 2.117500 89220616.000000 --5.425000 0.227500 2.117500 89320576.000000 --5.477500 0.227500 2.117500 89420464.000000 --5.477500 0.227500 2.100000 89520376.000000 --5.460000 0.227500 2.117500 89620464.000000 --5.495000 0.192500 2.117500 89720632.000000 --5.460000 0.227500 2.117500 89820448.000000 --5.477500 0.262500 2.117500 89920592.000000 --5.495000 0.227500 2.117500 90020664.000000 --5.495000 0.227500 2.117500 90120544.000000 --5.477500 0.262500 2.082500 90220496.000000 --5.477500 0.262500 2.100000 90320520.000000 --5.477500 0.262500 2.100000 90420752.000000 --5.495000 0.262500 2.082500 90520512.000000 --5.495000 0.262500 2.100000 90620560.000000 --5.512500 0.262500 2.100000 90720696.000000 --5.530000 0.472500 2.082500 90820464.000000 --5.477500 0.087500 2.100000 90920744.000000 --5.512500 0.297500 2.100000 91020488.000000 --5.512500 0.262500 2.100000 91120800.000000 --5.442500 -1.872500 2.240000 91220584.000000 --5.495000 0.437500 2.187500 91320504.000000 --5.495000 -0.017500 3.692500 91420720.000000 --5.512500 -0.192500 4.287500 91520472.000000 --5.495000 1.592500 4.270000 91620784.000000 --3.167500 2.852500 4.357500 91720480.000000 -3.325000 -14.052500 4.777500 91820792.000000 -10.517500 3.237500 6.160000 91920472.000000 -30.415001 8.347500 -0.962500 92020552.000000 -42.700001 8.522500 2.187500 92120792.000000 -54.985001 4.252500 5.197500 92220480.000000 -60.322502 -1.522500 7.245000 92320800.000000 -61.564999 -6.107500 9.677500 92420472.000000 -61.827499 -7.962500 9.065000 92520784.000000 -60.270000 -2.082500 6.667500 92620384.000000 -57.802502 -0.472500 8.102500 92720608.000000 -59.797501 -3.832500 5.110000 92820704.000000 -59.447502 0.892500 2.957500 92920656.000000 -59.570000 -6.142500 4.532500 93022168.000000 -57.697502 5.197500 2.835000 93121688.000000 -59.080002 -9.467500 1.470000 93221584.000000 -53.865002 -10.307500 -0.962500 93321304.000000 -37.642502 -4.777500 -5.425000 93421200.000000 -26.337500 -2.012500 2.432500 93521760.000000 -27.352501 -8.207500 -3.377500 93621528.000000 -18.830000 -1.802500 -6.685000 93721712.000000 -0.402500 7.647500 -0.420000 93821696.000000 --4.637500 3.307500 3.517500 93922456.000000 --1.977500 0.752500 -0.420000 94021472.000000 --8.522500 4.042500 0.770000 94121616.000000 --8.732500 3.167500 4.287500 94222768.000000 --3.010000 0.962500 0.490000 94321328.000000 --3.657500 -2.222500 -0.385000 94422352.000000 --7.857500 3.307500 5.460000 94521456.000000 --7.472500 1.452500 2.940000 94622456.000000 --4.480000 -6.037500 -0.595000 94723016.000000 --1.382500 -4.672500 -2.117500 94821280.000000 --3.167500 3.797500 3.027500 94922320.000000 --4.952500 4.532500 9.415000 95021408.000000 -0.437500 -2.082500 -3.342500 95122560.000000 --9.012500 5.407500 -1.067500 95221560.000000 --12.442500 4.812500 3.185000 95322408.000000 --5.740000 3.097500 -0.822500 95420624.000000 --2.467500 4.042500 -2.660000 95522400.000000 --3.762500 2.362500 -0.507500 95622352.000000 --2.660000 2.467500 -0.192500 95721576.000000 --2.957500 2.292500 2.432500 95824240.000000 --4.707500 -0.297500 3.535000 95921480.000000 --4.725000 2.537500 4.550000 96023936.000000 --2.572500 0.122500 3.972500 96121376.000000 --2.240000 16.957500 3.850000 96220480.000000 -0.455000 -9.852500 1.207500 96320736.000000 --0.805000 -2.432500 5.127500 96420528.000000 --2.187500 -6.457500 -2.275000 96520456.000000 --2.380000 2.852500 1.382500 96621016.000000 --10.990000 -8.312500 4.497500 96721008.000000 --9.957500 -6.492500 5.827500 96820416.000000 --8.032500 -8.837500 5.232500 96920752.000000 --5.302500 3.027500 0.070000 97020696.000000 -1.977500 5.057500 -2.012500 97120568.000000 --0.962500 1.067500 3.622500 97220624.000000 --13.230000 2.922500 0.017500 97320408.000000 --18.094999 -0.087500 -3.307500 97420528.000000 --9.240000 -1.137500 1.907500 97520736.000000 --1.470000 -2.257500 5.775000 97620520.000000 --5.180000 0.647500 1.522500 97720624.000000 --10.832500 4.742500 -1.522500 97820512.000000 --11.707500 -0.647500 -3.132500 97920536.000000 --6.440000 0.122500 1.452500 98020512.000000 --3.185000 -0.717500 3.290000 98120520.000000 --2.030000 -0.822500 4.042500 98220528.000000 --9.695000 3.097500 2.730000 98320440.000000 --12.267500 -0.437500 -3.780000 98420624.000000 --5.477500 0.822500 0.525000 98520560.000000 -0.542500 -0.612500 4.567500 98620512.000000 -0.455000 -0.717500 5.022500 98720592.000000 --10.955000 1.382500 1.557500 98820392.000000 --10.500000 -0.402500 0.280000 98920480.000000 --2.887500 -0.717500 3.727500 99020512.000000 -0.140000 -0.017500 4.340000 99120496.000000 --1.225000 3.237500 3.062500 99220400.000000 --10.955000 -2.432500 -0.630000 99320392.000000 --11.637500 0.857500 -1.697500 99420440.000000 --4.812500 0.822500 1.207500 99520576.000000 -0.070000 -0.227500 3.605000 99620696.000000 --3.342500 0.192500 4.812500 99720400.000000 --10.097500 -1.032500 1.732500 99820496.000000 --5.985000 0.122500 1.697500 99920448.000000 --0.192500 -0.472500 3.745000 100020560.000000 --2.065000 0.087500 3.640000 100120696.000000 --7.280000 2.187500 1.907500 100220632.000000 --10.290000 -0.647500 -0.087500 100320400.000000 --3.972500 -0.157500 2.275000 100420360.000000 --0.262500 -0.332500 3.727500 100521680.000000 -0.000000 -0.262500 4.602500 100620576.000000 --6.912500 4.217500 0.717500 100720464.000000 --13.125000 0.507500 -0.875000 100820560.000000 --4.760000 -0.017500 4.095000 100920608.000000 --1.872500 0.717500 2.362500 101020584.000000 --0.997500 0.332500 3.657500 101120424.000000 --7.227500 2.712500 2.835000 101220432.000000 --14.875000 -3.167500 5.407500 101320528.000000 --9.730000 2.957500 -1.680000 101421080.000000 -1.085000 -0.227500 3.412500 101520624.000000 --2.345000 1.557500 1.207500 101620688.000000 --7.665000 1.067500 1.277500 101720608.000000 --5.687500 0.717500 1.015000 101820576.000000 -3.377500 0.787500 3.902500 101920704.000000 --0.437500 0.122500 1.032500 102020528.000000 --7.122500 0.157500 0.157500 102120704.000000 --10.832500 -1.347500 1.487500 102220528.000000 --8.750000 -0.262500 1.977500 102320752.000000 --3.535000 -0.927500 4.952500 102420456.000000 --0.560000 -1.977500 3.640000 102520544.000000 --1.732500 0.857500 10.342500 102620776.000000 --8.925000 -0.542500 2.397500 102720496.000000 --9.712500 13.177500 -0.175000 102820744.000000 --2.765000 -15.522500 3.955000 102920648.000000 --3.867500 6.002500 0.175000 103021832.000000 --4.025000 2.887500 2.240000 103121560.000000 --7.875000 3.447500 3.692500 103221520.000000 --10.255000 5.687500 5.740000 103321312.000000 --6.055000 1.977500 2.642500 103421832.000000 --5.565000 -0.087500 4.322500 103521408.000000 --6.720000 -0.402500 5.390000 103621992.000000 --9.975000 1.837500 6.037500 103721384.000000 --12.092500 1.977500 6.475000 103820752.000000 --5.862500 -3.167500 2.310000 103920496.000000 --3.395000 -3.482500 -3.290000 104020704.000000 --4.987500 0.507500 1.452500 104120688.000000 --7.157500 2.362500 1.435000 104221176.000000 --7.175000 1.207500 1.330000 104320528.000000 --5.057500 2.117500 1.277500 104420720.000000 --6.562500 1.767500 1.732500 104520544.000000 --6.265000 1.487500 2.712500 104620504.000000 --3.290000 -1.067500 1.067500 104720880.000000 --6.037500 0.017500 1.172500 104820536.000000 --5.810000 0.612500 2.555000 104920736.000000 --6.790000 2.082500 3.045000 105020672.000000 --6.685000 1.522500 2.625000 105121256.000000 --8.120000 0.227500 5.460000 105220464.000000 --8.137500 0.017500 2.257500 105320536.000000 --9.695000 -0.577500 -3.500000 105420472.000000 --15.155000 1.697500 -1.575000 105520880.000000 --17.010000 1.977500 1.697500 105620464.000000 --16.100000 0.017500 0.070000 105720448.000000 --22.382500 1.697500 0.280000 105820704.000000 --41.720001 38.412498 -0.630000 105920480.000000 --43.697498 -27.772501 -0.962500 106020496.000000 --52.027500 -13.772500 2.100000 106120664.000000 --61.722500 12.617500 7.665000 106220624.000000 --53.532501 -2.852500 2.887500 106320728.000000 --47.285000 6.457500 -4.567500 106420512.000000 --44.799999 3.447500 -8.767500 106520720.000000 --45.779999 5.652500 -6.160000 106620464.000000 --50.785000 1.837500 -2.555000 106720536.000000 --50.575001 -3.587500 -5.950000 106820664.000000 --50.959999 0.542500 -8.662500 106920464.000000 --59.150002 -0.402500 -4.060000 107020688.000000 --58.310001 3.202500 0.665000 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518130464.000000 --0.027517 0.252443 10.220942 518230720.000000 --0.019143 0.189033 10.182656 518330560.000000 --0.031107 0.208176 10.119246 518431200.000000 --0.007178 0.217747 10.247264 518530496.000000 --0.027517 0.220140 10.104890 518730592.000000 --0.010768 0.215354 10.212566 518830496.000000 diff --git a/src/sensor_fusion/design/data/100ms/orientation/pitch/gyro.txt b/src/sensor_fusion/design/data/100ms/orientation/pitch/gyro.txt deleted file mode 100755 index 648c75c..0000000 --- a/src/sensor_fusion/design/data/100ms/orientation/pitch/gyro.txt +++ /dev/null @@ -1,672 +0,0 @@ -1.890000 0.472500 -0.472500 451587136.000000 --1.785000 0.927500 -15.225000 451685472.000000 --5.022500 0.297500 2.275000 451785504.000000 --5.040000 0.297500 2.310000 451885600.000000 --5.022500 0.332500 2.275000 451985728.000000 --4.987500 0.052500 2.275000 452085504.000000 --5.075000 0.892500 2.292500 452185408.000000 --5.057500 0.017500 2.292500 452285408.000000 --5.057500 0.192500 2.310000 452385408.000000 --5.057500 0.262500 2.292500 452485408.000000 --5.075000 0.297500 2.292500 452585408.000000 --5.057500 1.977500 2.275000 452685504.000000 --5.075000 11.427500 2.082500 452785632.000000 --5.057500 -21.437500 2.782500 452885632.000000 --5.232500 12.127500 1.872500 452985536.000000 --5.092500 -1.277500 1.820000 453085568.000000 --5.110000 1.312500 2.240000 453185472.000000 --5.110000 -0.332500 2.310000 453285536.000000 --5.127500 0.892500 2.275000 453385376.000000 --5.127500 -0.227500 2.257500 453485440.000000 --5.092500 0.612500 2.660000 453585376.000000 --5.127500 0.542500 2.607500 453685440.000000 --5.110000 0.507500 2.222500 453785376.000000 --5.127500 0.402500 2.607500 453885408.000000 --5.127500 0.087500 2.380000 453985568.000000 --5.110000 0.332500 2.275000 454085632.000000 --5.127500 0.192500 2.257500 454185536.000000 --5.110000 0.157500 2.240000 454285632.000000 --5.075000 1.382500 2.222500 454385376.000000 --5.145000 -0.647500 2.310000 454485376.000000 --5.110000 0.087500 2.275000 454585792.000000 --5.110000 0.017500 2.222500 454685632.000000 --5.110000 0.087500 2.257500 454785504.000000 --5.127500 0.227500 2.240000 454885632.000000 --5.092500 1.102500 2.240000 454985888.000000 --5.110000 0.157500 2.257500 455085408.000000 --5.057500 3.097500 2.240000 455185408.000000 --5.180000 -0.892500 2.257500 455285536.000000 --5.127500 -0.087500 2.257500 455385504.000000 --5.127500 0.297500 2.240000 455485504.000000 --5.145000 -0.052500 2.275000 455585472.000000 --5.145000 0.017500 2.257500 455685408.000000 --5.127500 -0.227500 2.275000 455785408.000000 --5.162500 1.417500 3.640000 455885440.000000 --5.145000 -0.332500 2.275000 455985504.000000 --5.145000 0.087500 2.240000 456085440.000000 --5.180000 0.017500 2.257500 456186336.000000 --5.180000 0.472500 2.257500 456285472.000000 --5.162500 0.682500 2.240000 456385664.000000 --5.162500 0.542500 2.362500 456485472.000000 --5.180000 -0.542500 2.257500 456585408.000000 --5.127500 0.402500 2.222500 456685472.000000 --5.162500 0.297500 2.257500 456785472.000000 --5.110000 -0.122500 2.257500 456885472.000000 --5.162500 0.402500 2.257500 456985504.000000 --5.127500 0.157500 2.257500 457085504.000000 --5.162500 0.472500 2.222500 457185472.000000 --5.162500 -0.017500 2.240000 457285376.000000 --5.127500 0.402500 2.222500 457385376.000000 --5.145000 0.612500 2.205000 457485344.000000 --5.092500 2.187500 2.187500 457585440.000000 --5.110000 1.487500 2.240000 457685632.000000 --5.110000 4.532500 2.467500 457785376.000000 --5.075000 10.622500 1.995000 457885344.000000 --5.092500 7.472500 2.502500 457985344.000000 --5.180000 -5.407500 2.642500 458085344.000000 --5.232500 1.557500 2.362500 458185344.000000 --5.215000 0.332500 2.782500 458285440.000000 --5.180000 -0.297500 2.747500 458385504.000000 --5.197500 -0.472500 2.222500 458485504.000000 --5.250000 0.927500 2.695000 458585472.000000 --5.232500 4.637500 3.447500 458685664.000000 --5.705000 8.697500 5.145000 458785536.000000 --5.705000 4.007500 2.642500 458885504.000000 --5.967500 2.852500 4.655000 458985536.000000 --8.627500 12.057500 4.567500 459085728.000000 --10.325000 24.517500 -3.412500 459185600.000000 --6.947500 42.507500 9.625000 459286944.000000 --7.997500 83.947502 11.270000 459385376.000000 --6.335000 101.377502 5.162500 459485472.000000 --4.830000 72.607498 5.442500 459587648.000000 -5.862500 86.362503 -4.095000 459685408.000000 --5.267500 166.687500 6.002500 459785440.000000 --12.495000 140.017502 5.845000 459885344.000000 -3.307500 139.912506 0.332500 459985376.000000 -30.117500 140.822495 7.175000 460085344.000000 -21.139999 235.182495 13.352500 460185728.000000 -11.410000 152.547501 18.690001 460285376.000000 -8.015000 113.417503 21.332500 460385376.000000 --0.157500 35.507500 10.027500 460485376.000000 --6.965000 80.552498 9.327500 460585664.000000 --9.677500 50.382500 -6.947500 460685344.000000 --8.330000 27.002501 -7.945000 460785504.000000 --9.012500 18.812500 -3.220000 460885376.000000 -5.442500 69.072502 -18.445000 460985376.000000 --2.940000 10.902500 2.537500 461085344.000000 --2.957500 17.832500 1.960000 461186240.000000 --3.132500 23.152500 2.607500 461285344.000000 --14.402500 12.687500 -5.932500 461385504.000000 --5.355000 11.777500 -6.422500 461485504.000000 --4.567500 56.367500 -1.522500 461585536.000000 --3.150000 162.697495 -6.597500 461685504.000000 --6.352500 187.932495 5.320000 461785536.000000 --13.037500 241.517502 8.452500 461885536.000000 --13.912500 157.727493 5.162500 461985504.000000 --10.990000 102.287498 1.680000 462085760.000000 --5.180000 82.372498 -0.070000 462185376.000000 -9.135000 80.272499 1.172500 462285376.000000 --10.500000 112.927498 -2.292500 462385600.000000 --40.792500 296.117493 -19.057501 462485440.000000 --8.557500 328.457489 10.342500 462585376.000000 --9.082500 212.327499 53.112499 462685472.000000 --4.322500 1.942500 39.480000 462785600.000000 --4.655000 9.327500 3.955000 462885536.000000 --5.040000 15.592500 2.012500 462985664.000000 --5.180000 -13.457500 -2.397500 463085408.000000 --5.005000 4.952500 -18.865000 463185728.000000 --4.987500 -2.257500 -15.715000 463285632.000000 --5.372500 1.662500 9.765000 463385440.000000 --5.267500 -0.367500 0.595000 463486496.000000 --5.197500 0.122500 -2.467500 463585600.000000 --5.320000 -0.577500 6.860000 463685504.000000 --5.320000 -0.472500 6.335000 463789568.000000 --5.267500 0.402500 4.987500 463885536.000000 --5.250000 0.682500 2.152500 463985536.000000 --5.285000 1.067500 2.082500 464085504.000000 --5.232500 -0.542500 2.117500 464185504.000000 --5.320000 2.082500 2.205000 464285440.000000 --5.285000 0.332500 2.205000 464385376.000000 --5.250000 0.822500 2.205000 464485472.000000 --5.267500 0.402500 2.240000 464585408.000000 --5.302500 0.647500 2.240000 464685504.000000 --5.285000 0.507500 2.222500 464785472.000000 --5.285000 0.122500 2.205000 464885440.000000 --5.232500 -0.402500 2.257500 464985536.000000 --5.302500 -0.227500 2.257500 465085568.000000 --5.267500 0.122500 2.240000 465185472.000000 --5.267500 0.822500 2.205000 465285504.000000 --5.302500 3.132500 3.850000 465385376.000000 --5.320000 -3.447500 2.397500 465485376.000000 --5.267500 0.857500 2.240000 465585376.000000 --5.250000 0.017500 2.240000 465685440.000000 --5.267500 0.297500 2.222500 465785696.000000 --5.267500 1.102500 2.222500 465885376.000000 --5.250000 0.367500 2.222500 465985376.000000 --5.267500 -0.157500 2.240000 466085376.000000 --5.127500 0.927500 2.222500 466185824.000000 --5.355000 0.262500 2.205000 466285376.000000 --5.285000 0.297500 2.205000 466385344.000000 --5.285000 0.192500 2.205000 466485536.000000 --5.285000 0.122500 2.170000 466585632.000000 --5.302500 -0.402500 2.240000 466685536.000000 --5.267500 0.262500 2.205000 466785504.000000 --5.285000 0.262500 2.205000 466885440.000000 --5.302500 1.312500 2.310000 466985504.000000 --5.267500 2.467500 2.432500 467085504.000000 --5.285000 -0.472500 3.745000 467185504.000000 --5.232500 2.222500 4.007500 467285600.000000 --5.180000 7.332500 2.047500 467386528.000000 --5.302500 25.462500 0.490000 467485344.000000 --15.942500 39.987499 9.257500 467585408.000000 --8.522500 93.957497 14.577500 467685696.000000 -9.555000 143.517502 -3.185000 467785472.000000 --4.935000 153.247498 5.075000 467885536.000000 --38.447498 196.122498 15.172500 467985408.000000 --8.505000 227.517502 -2.660000 468085440.000000 -2.660000 201.337494 0.070000 468185344.000000 -19.600000 354.217499 20.895000 468285344.000000 --2.975000 115.202499 5.547500 468385408.000000 -1.697500 85.592499 16.485001 468485536.000000 --8.960000 81.007500 -12.495000 468585408.000000 --6.230000 86.782501 -6.265000 468685408.000000 --4.970000 59.237499 2.607500 468785376.000000 --5.337500 0.472500 11.305000 468885376.000000 --5.075000 1.312500 4.690000 468985632.000000 --5.460000 3.727500 -3.185000 469085376.000000 --5.040000 12.267500 -4.077500 469186304.000000 --4.585000 97.842499 -3.955000 469285408.000000 --2.975000 153.352493 -2.835000 469385376.000000 --3.570000 221.112503 2.625000 469485344.000000 --7.280000 194.302505 0.175000 469585536.000000 --14.630000 146.457504 6.107500 469685536.000000 --26.320000 147.472504 2.730000 469785504.000000 --12.005000 163.607498 0.070000 469885696.000000 -27.492500 243.897507 4.497500 469985440.000000 --31.570000 381.342499 -17.412500 470085504.000000 --9.257500 54.057499 -1.995000 470185376.000000 --3.220000 34.317501 1.942500 470285504.000000 --5.950000 41.807499 10.360000 470385376.000000 --3.395000 34.107502 11.480000 470485472.000000 -1.645000 88.602501 15.015000 470585472.000000 --2.975000 12.967500 -1.242500 470685472.000000 --5.337500 2.222500 2.187500 470785504.000000 --5.355000 3.622500 2.240000 470885472.000000 --5.530000 28.717501 3.307500 470985472.000000 --5.477500 -8.382500 2.397500 471085504.000000 --5.372500 2.432500 2.170000 471185472.000000 --5.337500 0.612500 2.205000 471285888.000000 --5.337500 0.752500 2.205000 471385408.000000 --5.337500 1.452500 2.205000 471485536.000000 --5.320000 0.542500 2.170000 471585920.000000 --5.180000 3.727500 2.187500 471685504.000000 --5.407500 -1.207500 2.292500 471785472.000000 --5.355000 0.192500 2.187500 471885344.000000 --5.320000 0.437500 2.187500 471985760.000000 --5.110000 8.382500 2.205000 472085440.000000 --5.425000 -2.852500 2.310000 472185792.000000 --5.337500 -0.262500 2.205000 472285440.000000 --5.320000 -0.017500 2.222500 472385376.000000 --5.355000 0.122500 2.187500 472485376.000000 --5.337500 0.297500 2.345000 472585440.000000 --5.320000 0.157500 2.187500 472685376.000000 --5.320000 0.122500 2.240000 472785408.000000 --5.320000 0.052500 2.170000 472885376.000000 --5.337500 0.192500 2.257500 472985696.000000 --5.337500 1.067500 2.677500 473085568.000000 --5.390000 2.502500 3.010000 473185568.000000 --5.372500 -0.157500 3.640000 473285536.000000 --5.372500 0.997500 1.942500 473385472.000000 --5.320000 15.067500 1.960000 473485472.000000 --12.547500 38.202499 6.177500 473585472.000000 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475690816.000000 --14.332500 200.532501 5.477500 475790848.000000 --3.552500 172.357498 -0.682500 475890880.000000 -24.674999 135.852493 1.102500 475990880.000000 -36.715000 150.727493 7.262500 476090624.000000 --65.169998 431.182495 -51.240002 476190752.000000 --12.950000 88.952499 -1.960000 476290624.000000 -0.105000 93.887497 3.570000 476390624.000000 --2.905000 63.192501 11.217500 476490880.000000 -2.257500 77.822502 24.307501 476590720.000000 --2.135000 17.902500 2.852500 476690816.000000 --5.530000 9.782500 -0.455000 476790656.000000 --5.617500 12.862500 2.012500 476890944.000000 --5.442500 6.177500 2.117500 476990976.000000 --5.355000 -2.222500 2.257500 477091104.000000 --5.337500 0.822500 2.187500 477191424.000000 --5.250000 7.052500 2.152500 477290656.000000 --5.512500 -4.182500 2.380000 477390720.000000 --5.390000 0.157500 2.240000 477490752.000000 --5.390000 0.717500 2.240000 477590752.000000 --5.372500 1.312500 2.187500 477690848.000000 --5.355000 0.437500 2.222500 477790816.000000 --5.372500 0.507500 2.222500 477890848.000000 --5.355000 0.437500 2.222500 477990976.000000 --5.407500 0.402500 2.205000 478090880.000000 --5.355000 -0.157500 2.222500 478190656.000000 --5.285000 1.032500 2.730000 478290752.000000 --5.407500 0.822500 2.187500 478390656.000000 --5.372500 0.087500 2.257500 478490816.000000 --5.355000 0.612500 2.240000 478591008.000000 --5.355000 0.157500 2.240000 478690624.000000 --5.442500 -0.017500 2.257500 478790624.000000 --5.372500 0.332500 2.205000 478890944.000000 --5.390000 -0.192500 2.240000 478990592.000000 --5.390000 -0.192500 2.240000 479090816.000000 --5.372500 0.612500 2.450000 479190880.000000 --5.372500 -0.017500 2.222500 479290880.000000 --5.372500 0.367500 2.222500 479390816.000000 --5.390000 -0.087500 2.222500 479490688.000000 --5.372500 0.297500 2.345000 479591360.000000 --5.407500 0.052500 2.467500 479690912.000000 --5.355000 0.507500 2.205000 479790944.000000 --5.372500 0.297500 2.205000 479891392.000000 --5.355000 0.122500 2.240000 479990944.000000 --5.372500 0.577500 2.205000 480091072.000000 --5.390000 0.927500 3.080000 480190816.000000 --5.390000 -0.437500 2.310000 480290816.000000 --5.390000 1.627500 2.187500 480390720.000000 --5.372500 -0.542500 2.257500 480490816.000000 --5.425000 -1.767500 2.275000 480590720.000000 --5.127500 -16.677500 2.257500 480690816.000000 --5.372500 4.812500 2.170000 480790720.000000 --5.320000 -15.907500 2.275000 480890816.000000 --12.565000 -30.957500 1.592500 480990720.000000 --5.057500 -72.502502 8.767500 481090816.000000 --8.750000 -116.987503 0.280000 481190720.000000 --12.145000 -150.307495 -12.950000 481290816.000000 --3.692500 -74.042503 -0.682500 481390720.000000 -3.535000 -85.032501 8.190000 481490816.000000 --3.062500 -131.022507 5.722500 481590880.000000 -24.447500 -178.307495 14.490000 481691360.000000 --10.132500 -154.577499 5.530000 481790912.000000 --68.425003 -417.112488 24.587500 481890944.000000 --8.715000 -33.267502 8.067500 481990752.000000 --10.097500 -54.652500 11.567500 482091616.000000 --6.475000 -60.287498 5.757500 482190912.000000 -25.655001 -200.182495 -12.757500 482290912.000000 --8.977500 2.747500 -0.577500 482390816.000000 --27.650000 -0.787500 -0.997500 482490720.000000 --5.337500 0.297500 2.257500 482590816.000000 --5.355000 0.297500 2.275000 482690912.000000 --5.372500 0.297500 2.257500 482790976.000000 --5.355000 0.297500 2.222500 482890912.000000 --5.425000 0.192500 2.310000 482990976.000000 --5.337500 0.297500 2.310000 483091072.000000 --5.460000 -0.017500 2.170000 483190976.000000 --5.792500 -3.622500 -4.147500 483290912.000000 --5.355000 -10.692500 -11.130000 483390912.000000 --5.477500 -25.322500 -2.152500 483490976.000000 --5.495000 37.922501 104.370003 483590912.000000 --5.897500 0.192500 41.685001 483690944.000000 --5.057500 0.332500 -19.162500 483790912.000000 --4.217500 0.472500 -63.822502 483890976.000000 --5.110000 0.192500 -29.907499 483990912.000000 --5.040000 0.227500 -19.022501 484090976.000000 --5.705000 -2.397500 -3.587500 484190944.000000 --5.337500 -4.077500 -13.107500 484290976.000000 --5.477500 -16.957500 -16.082500 484390944.000000 --5.775000 -38.622501 -8.137500 484490976.000000 --6.195000 -92.627502 -1.172500 484591072.000000 --6.405000 -275.432495 2.380000 484690944.000000 --10.885000 -282.222504 2.940000 484790912.000000 --0.140000 -244.002502 6.317500 484895872.000000 --18.987499 -284.602509 2.817500 484995456.000000 -27.632500 -292.897491 -40.232502 485095392.000000 --11.497500 -366.852509 -50.242500 485195488.000000 -21.297501 -70.962502 3.010000 485295488.000000 -4.812500 -70.122498 9.135000 485395456.000000 -12.862500 -37.082500 7.857500 485495392.000000 --4.340000 8.382500 2.975000 485595488.000000 --6.125000 19.687500 2.012500 485695392.000000 --5.302500 1.417500 2.380000 485795520.000000 --5.302500 -0.087500 2.257500 485895456.000000 --5.302500 0.192500 2.222500 485995392.000000 --5.267500 2.607500 2.170000 486095616.000000 --5.320000 0.262500 2.222500 486195392.000000 --5.302500 0.927500 2.222500 486295520.000000 --5.302500 0.822500 2.327500 486395488.000000 --5.320000 0.612500 2.450000 486495648.000000 --5.162500 -0.402500 2.275000 486595424.000000 --5.337500 0.787500 2.240000 486695424.000000 --5.285000 0.542500 2.240000 486795488.000000 --5.267500 3.622500 3.027500 486895712.000000 --5.302500 0.437500 2.835000 486995616.000000 --5.285000 -1.137500 2.310000 487095584.000000 --5.285000 -2.397500 2.327500 487195520.000000 --5.040000 -22.172501 1.540000 487295456.000000 --5.425000 0.087500 4.707500 487395392.000000 --6.107500 -8.872500 2.660000 487495520.000000 --13.335000 -34.947498 8.487500 487595456.000000 --3.185000 -24.692499 16.695000 487695520.000000 --3.325000 -79.957497 7.665000 487795488.000000 --7.122500 -93.677498 -1.347500 487895488.000000 --1.872500 -101.657501 13.615000 487995392.000000 --15.645000 -137.427505 -18.462500 488095520.000000 -0.647500 -108.062500 6.247500 488195488.000000 -8.942500 -117.337502 11.865000 488295488.000000 -7.752500 -194.057495 10.202500 488395424.000000 -12.477500 -392.717499 7.927500 488495488.000000 --6.545000 -304.902496 3.832500 488595520.000000 --6.002500 -142.537506 2.257500 488695424.000000 --12.127500 -86.957497 18.182501 488795488.000000 -11.865000 -104.457497 9.275000 488895520.000000 -1.732500 -84.507500 8.820000 488995424.000000 --32.095001 -0.367500 7.210000 489095904.000000 --5.267500 0.367500 2.310000 489195360.000000 --5.337500 0.297500 2.275000 489295488.000000 --5.372500 0.227500 2.275000 489395424.000000 --5.460000 0.052500 9.030000 489495488.000000 --5.565000 -2.432500 -5.022500 489596096.000000 --5.407500 -14.927500 -7.997500 489695392.000000 --5.652500 -25.217501 -3.202500 489795488.000000 --6.527500 -66.237503 -6.107500 489895520.000000 --9.135000 -141.032501 -9.817500 489995392.000000 -6.965000 -73.237503 29.592501 490095456.000000 -2.502500 -70.507500 16.170000 490195360.000000 --7.962500 -99.907501 0.402500 490295488.000000 --11.497500 -144.252502 -2.327500 490395456.000000 --8.575000 -190.837494 2.590000 490495488.000000 --11.655000 -410.497498 11.445000 490595680.000000 -20.615000 -378.927490 -27.335001 490695360.000000 --5.337500 -173.442505 -6.405000 490795488.000000 --7.245000 -40.162498 6.457500 490895392.000000 --5.775000 -123.847504 0.402500 490995456.000000 -8.662500 -76.597504 5.687500 491095392.000000 --5.792500 -13.317500 2.660000 491195488.000000 --5.285000 0.507500 2.275000 491295392.000000 --5.372500 -2.992500 2.327500 491395488.000000 --5.425000 -6.702500 2.380000 491495520.000000 --5.232500 -8.872500 2.485000 491595392.000000 --5.320000 2.607500 9.030000 491695488.000000 --5.267500 -0.087500 2.292500 491795520.000000 --5.302500 0.647500 2.292500 491895424.000000 --5.320000 1.837500 2.222500 491995360.000000 --5.285000 -0.297500 2.275000 492095648.000000 --5.337500 0.227500 2.275000 492195424.000000 --5.285000 -0.507500 2.292500 492295520.000000 --5.285000 0.647500 2.222500 492395520.000000 --5.285000 1.172500 2.222500 492495392.000000 --5.337500 0.052500 2.275000 492595648.000000 --5.267500 0.752500 2.222500 492695488.000000 --5.302500 0.752500 2.240000 492795488.000000 --5.302500 0.647500 2.240000 492895520.000000 --5.285000 0.297500 2.222500 492995360.000000 --5.302500 0.297500 2.117500 493095424.000000 --5.302500 0.612500 2.222500 493195456.000000 --5.285000 0.857500 2.257500 493295456.000000 --5.267500 0.192500 2.240000 493395360.000000 --5.320000 0.017500 2.240000 493495584.000000 --5.285000 0.262500 1.750000 493595744.000000 --5.285000 0.997500 2.397500 493695488.000000 --5.302500 1.417500 2.660000 493795488.000000 --5.302500 0.227500 2.310000 493895392.000000 --5.302500 0.262500 2.257500 493995488.000000 --5.302500 0.052500 2.240000 494095456.000000 --5.320000 -0.297500 2.240000 494195392.000000 --5.232500 -5.022500 0.035000 494295520.000000 --7.437500 -34.352501 8.715000 494395424.000000 --14.857500 -33.792500 21.525000 494495488.000000 --0.315000 -105.577499 27.299999 494595392.000000 -5.372500 -86.957497 25.165001 494695488.000000 --7.157500 -46.987499 -2.467500 494795392.000000 --12.285000 -53.882500 -11.077500 494895488.000000 --9.450000 -108.097504 -10.290000 494995520.000000 --2.800000 -137.077499 2.362500 495095424.000000 --1.330000 -170.922501 6.790000 495195552.000000 -8.312500 -348.477509 10.447500 495295488.000000 --14.437500 -403.847504 11.777500 495395552.000000 --4.760000 -140.997498 1.890000 495495456.000000 --11.480000 -94.762497 13.755000 495595552.000000 --9.590000 -28.332500 11.550000 495695488.000000 --11.620000 -124.477501 22.767500 495795552.000000 --6.212500 -114.257500 8.802500 495895488.000000 --15.260000 -0.017500 5.652500 495995552.000000 --5.215000 0.262500 -3.850000 496095488.000000 --5.320000 0.262500 2.275000 496195616.000000 --5.302500 0.297500 2.275000 496295488.000000 --5.652500 0.157500 18.375000 496395488.000000 --5.127500 -0.017500 7.735000 496495456.000000 --6.160000 -27.982500 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--5.285000 -0.332500 2.205000 498695392.000000 --5.320000 -0.437500 2.065000 498795456.000000 --5.145000 1.102500 2.257500 498895584.000000 --5.390000 -0.297500 2.240000 498995392.000000 --5.302500 0.367500 2.222500 499095424.000000 --5.302500 0.997500 2.222500 499195456.000000 --5.372500 0.892500 2.205000 499295424.000000 --5.302500 -0.437500 2.047500 499395392.000000 --5.267500 -0.962500 1.575000 499495456.000000 --5.302500 1.067500 2.205000 499595840.000000 --5.512500 0.227500 2.257500 499695360.000000 --5.302500 -0.262500 2.082500 499795488.000000 --5.320000 0.577500 2.222500 499895456.000000 --4.917500 0.962500 2.275000 499995360.000000 --5.337500 0.612500 2.240000 500095424.000000 --5.320000 -0.542500 2.205000 500195488.000000 --5.320000 -0.122500 2.082500 500295488.000000 --4.952500 0.262500 2.135000 500395392.000000 --5.355000 0.647500 2.012500 500495392.000000 --5.285000 -0.367500 1.890000 500595520.000000 --5.320000 2.047500 2.152500 500695488.000000 --5.302500 -1.522500 2.292500 500795456.000000 --5.337500 0.682500 2.240000 500895392.000000 --5.302500 0.507500 2.222500 500995488.000000 --5.320000 0.332500 2.240000 501095616.000000 --5.337500 0.297500 2.257500 501195424.000000 --5.337500 0.297500 2.240000 501295456.000000 --5.285000 0.297500 2.240000 501395456.000000 --5.320000 0.332500 2.240000 501495424.000000 --5.372500 0.262500 2.240000 501595456.000000 --5.372500 0.192500 2.240000 501695424.000000 --5.320000 0.262500 2.257500 501795488.000000 --5.337500 0.262500 2.240000 501895488.000000 --5.320000 0.332500 2.240000 501995456.000000 --5.320000 0.332500 2.240000 502095392.000000 --5.337500 0.332500 2.222500 502195520.000000 --5.320000 0.297500 2.257500 502295488.000000 --5.250000 2.572500 2.240000 502395392.000000 --5.372500 -1.592500 2.310000 502495360.000000 --5.302500 0.052500 2.257500 502595584.000000 --5.337500 0.262500 2.240000 502695360.000000 --5.337500 0.332500 2.257500 502795424.000000 --5.320000 -0.087500 2.257500 502895712.000000 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2.257500 505095488.000000 --5.302500 0.332500 2.275000 505195520.000000 --5.302500 0.297500 2.275000 505295392.000000 --5.320000 0.297500 2.240000 505395488.000000 --5.302500 0.332500 2.292500 505495488.000000 --5.302500 0.332500 2.275000 505595584.000000 --5.302500 0.297500 2.275000 505695520.000000 --5.285000 0.297500 2.257500 505795488.000000 --5.267500 0.332500 2.275000 505895488.000000 --5.320000 0.297500 2.257500 505995456.000000 --5.320000 0.262500 2.275000 506095360.000000 --5.285000 0.297500 2.292500 506195488.000000 --5.285000 0.297500 2.310000 506295392.000000 --5.320000 0.297500 2.275000 506395456.000000 --5.267500 0.332500 2.240000 506495360.000000 --5.302500 0.332500 2.257500 506595488.000000 --5.302500 0.297500 2.275000 506695360.000000 --5.285000 0.297500 2.240000 506795520.000000 --5.267500 0.262500 2.257500 506895456.000000 --5.302500 0.297500 2.275000 506995424.000000 --5.267500 -0.752500 2.292500 507095552.000000 --5.372500 0.647500 2.240000 507195392.000000 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2.205000 509395488.000000 --5.355000 0.297500 2.205000 509495488.000000 --5.337500 0.297500 2.275000 509595488.000000 --5.355000 0.297500 2.222500 509695360.000000 --5.320000 0.297500 2.222500 509795520.000000 --5.337500 0.332500 2.222500 509895488.000000 --5.355000 0.332500 2.257500 509995488.000000 --5.355000 0.297500 2.240000 510095552.000000 --5.355000 0.297500 2.222500 510195520.000000 --5.337500 0.297500 2.240000 510295488.000000 --5.355000 0.297500 2.240000 510395456.000000 --5.337500 0.297500 2.222500 510495392.000000 --5.337500 0.297500 2.222500 510595488.000000 --5.320000 0.332500 2.240000 510695488.000000 --5.355000 0.332500 2.240000 510795392.000000 --5.320000 0.297500 2.222500 510895520.000000 --5.355000 0.297500 2.240000 510995488.000000 --5.355000 0.332500 2.257500 511095424.000000 --5.337500 0.297500 2.257500 511195744.000000 --5.320000 0.052500 2.275000 511295424.000000 --5.372500 -0.157500 2.275000 511395392.000000 --5.320000 0.787500 2.222500 511495488.000000 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513695488.000000 --5.372500 0.577500 2.240000 513795552.000000 --5.320000 0.612500 2.222500 513895392.000000 --5.355000 0.052500 2.257500 513995424.000000 --5.372500 0.017500 2.240000 514095392.000000 --5.355000 0.437500 2.205000 514195584.000000 --5.372500 0.262500 2.187500 514295456.000000 --5.372500 0.297500 2.205000 514395456.000000 --5.372500 0.297500 2.205000 514495456.000000 --5.355000 0.297500 2.240000 514595552.000000 --5.372500 0.297500 2.222500 514695488.000000 --5.390000 0.297500 2.222500 514795456.000000 --5.355000 0.297500 2.205000 514895424.000000 --5.372500 0.297500 2.222500 514995488.000000 --5.390000 0.297500 2.222500 515095488.000000 --5.372500 0.332500 2.240000 515195392.000000 --5.355000 0.332500 2.240000 515295488.000000 --5.337500 0.297500 2.240000 515395360.000000 --5.390000 0.297500 2.240000 515495456.000000 --5.390000 0.262500 2.292500 515595520.000000 --5.355000 0.332500 2.240000 515695392.000000 --5.372500 0.332500 2.257500 515795520.000000 --5.372500 0.297500 2.257500 515895392.000000 --5.355000 0.297500 2.257500 515995456.000000 --5.337500 0.297500 2.240000 516095680.000000 --5.355000 0.332500 2.222500 516195488.000000 --5.337500 0.332500 2.257500 516295456.000000 --5.355000 0.297500 2.257500 516395392.000000 --5.372500 0.332500 2.257500 516495488.000000 --5.337500 0.297500 2.222500 516595392.000000 --5.355000 0.297500 2.257500 516695488.000000 --5.355000 0.297500 2.240000 516795488.000000 --5.337500 0.297500 2.292500 516895456.000000 --5.355000 0.332500 2.257500 516995360.000000 --5.355000 0.297500 2.222500 517095488.000000 --5.355000 0.332500 2.222500 517195360.000000 --5.337500 0.332500 2.275000 517295488.000000 --5.355000 0.297500 2.240000 517395392.000000 --5.302500 0.332500 2.257500 517495456.000000 --5.355000 0.297500 2.257500 517595456.000000 --5.337500 0.297500 2.240000 517695520.000000 --5.320000 0.297500 2.240000 517795488.000000 --5.355000 0.297500 2.257500 517895424.000000 --5.355000 0.297500 2.240000 517995680.000000 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322070848.000000 --5.040000 2.222500 1.750000 322170432.000000 --5.110000 -0.752500 1.960000 322270400.000000 --5.022500 0.472500 2.135000 322370560.000000 --5.005000 -0.087500 2.082500 322470560.000000 --5.005000 -0.227500 1.942500 322570880.000000 --5.040000 -0.192500 1.995000 322670688.000000 --5.022500 -0.262500 1.855000 322770656.000000 --4.970000 -1.697500 -1.487500 322870432.000000 --5.022500 0.262500 1.942500 322970400.000000 --5.040000 0.612500 1.750000 323070368.000000 --5.022500 0.122500 -1.365000 323170368.000000 --5.075000 0.997500 2.257500 323270368.000000 --5.040000 0.437500 2.222500 323370368.000000 --5.005000 -1.032500 -2.100000 323470368.000000 --5.040000 -1.277500 -1.942500 323570368.000000 --5.057500 0.262500 1.172500 323670336.000000 --5.092500 0.367500 2.257500 323770368.000000 --5.075000 0.402500 1.925000 323870368.000000 --5.057500 0.017500 1.645000 323970336.000000 --5.075000 0.262500 2.047500 324071552.000000 --5.075000 0.297500 1.890000 324170624.000000 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2.677500 326373152.000000 --5.127500 1.067500 2.870000 326470784.000000 --5.005000 0.052500 1.417500 326570496.000000 --5.092500 -0.892500 0.647500 326670688.000000 --5.110000 -0.157500 1.732500 326770496.000000 --5.197500 2.712500 2.257500 326870752.000000 --5.145000 2.817500 2.695000 326970496.000000 --5.110000 1.767500 2.327500 327070720.000000 --5.040000 0.927500 2.205000 327170496.000000 --5.092500 -1.172500 2.257500 327270720.000000 --5.092500 -0.472500 2.607500 327370496.000000 --5.040000 -1.417500 2.292500 327470944.000000 --4.987500 -2.992500 2.117500 327570560.000000 --5.040000 0.157500 2.152500 327670784.000000 --5.040000 0.962500 1.925000 327770464.000000 --5.092500 -0.262500 1.890000 327870752.000000 --5.127500 -0.892500 2.240000 327970496.000000 --5.110000 -2.152500 2.310000 328070784.000000 --5.197500 -0.402500 2.695000 328170464.000000 --5.232500 -7.122500 0.595000 328270752.000000 --5.320000 2.152500 2.887500 328370464.000000 --2.817500 2.187500 -14.455000 328470944.000000 -9.187500 -25.847500 -16.799999 328570496.000000 -44.222500 -16.327499 -12.582500 328670880.000000 -74.584999 -7.542500 -2.275000 328770496.000000 -109.970001 -17.272501 -6.247500 328870912.000000 -123.672501 -13.597500 -41.702499 328970624.000000 -101.167503 23.187500 4.235000 329070912.000000 -92.330002 8.207500 -0.385000 329170528.000000 -95.987503 7.227500 -6.597500 329270752.000000 -71.872498 3.377500 -19.775000 329370464.000000 -18.112499 -11.322500 1.627500 329470560.000000 -21.927500 -14.542500 -1.540000 329570432.000000 -32.689999 -6.212500 3.500000 329670400.000000 -72.852501 -10.762500 -1.715000 329770336.000000 -76.754997 -0.577500 7.542500 329870720.000000 -105.787498 5.477500 -28.927500 329970496.000000 -168.332504 -11.532500 -13.160000 330070688.000000 -158.270004 15.592500 -5.250000 330170496.000000 -181.264999 -0.577500 17.097500 330270784.000000 -85.207497 37.362499 2.747500 330370496.000000 -75.162498 29.032499 -27.037500 330470848.000000 -97.614998 15.487500 -13.965000 330570496.000000 -20.545000 -6.702500 5.477500 330670752.000000 --2.747500 -18.742500 -6.107500 330770464.000000 --32.724998 -12.827500 7.945000 330870784.000000 --0.682500 4.707500 3.447500 330970464.000000 -26.495001 0.052500 2.782500 331070880.000000 --5.512500 0.472500 2.870000 331170464.000000 --5.110000 0.262500 2.327500 331270848.000000 --5.127500 0.262500 2.310000 331370784.000000 --5.110000 0.262500 2.310000 331470816.000000 --5.127500 0.227500 2.327500 331570368.000000 --5.022500 0.192500 2.590000 331670784.000000 --0.717500 -0.227500 -5.390000 331770496.000000 -16.940001 0.192500 -0.735000 331870784.000000 -108.902504 -5.092500 -10.395000 331970624.000000 -152.022507 -2.887500 -6.527500 332070752.000000 -183.994995 11.532500 -4.690000 332170464.000000 -217.997498 16.117500 -3.237500 332270752.000000 -206.744995 -14.157500 9.432500 332370528.000000 -141.627502 8.592500 26.477501 332470560.000000 -142.257507 0.997500 -1.855000 332570752.000000 -200.865005 29.662500 -0.367500 332670496.000000 -210.070007 14.017500 -10.430000 332770816.000000 -171.220001 4.532500 -23.957500 332870496.000000 -126.402504 7.227500 -5.600000 332970784.000000 -73.412498 -12.092500 8.802500 333070496.000000 -23.887501 12.407500 13.002500 333170848.000000 -13.072500 -43.207500 6.527500 333270496.000000 --5.320000 13.282500 6.702500 333370912.000000 --5.145000 1.452500 6.895000 333470624.000000 --5.040000 0.192500 0.612500 333570944.000000 --5.110000 0.402500 2.012500 333670496.000000 --5.075000 1.102500 2.257500 333770848.000000 --5.057500 0.157500 2.275000 333870624.000000 --5.040000 0.822500 2.275000 333970464.000000 --5.110000 0.612500 2.275000 334070400.000000 --5.075000 -0.332500 1.995000 334170848.000000 --5.022500 0.752500 2.240000 334270592.000000 --5.075000 0.472500 2.222500 334370464.000000 --5.075000 0.262500 2.275000 334470784.000000 --5.075000 0.262500 2.240000 334570464.000000 --5.075000 0.122500 2.257500 334670496.000000 --5.075000 0.367500 2.345000 334770496.000000 --5.075000 0.227500 2.327500 334870848.000000 --5.075000 0.192500 2.257500 334970624.000000 --5.075000 -0.262500 2.292500 335071232.000000 --5.057500 0.297500 2.257500 335170720.000000 --5.075000 0.857500 2.310000 335270496.000000 --5.092500 -0.017500 2.292500 335370784.000000 --5.075000 0.122500 2.257500 335470496.000000 --5.110000 0.367500 2.257500 335570880.000000 --5.092500 0.367500 2.257500 335670464.000000 --5.092500 -0.017500 2.240000 335770848.000000 --5.110000 0.297500 2.257500 335870496.000000 --5.110000 1.872500 2.240000 335970752.000000 --5.425000 0.647500 1.820000 336070496.000000 --5.022500 0.717500 2.135000 336170496.000000 --5.005000 -0.262500 1.802500 336270496.000000 --5.110000 0.052500 1.715000 336370848.000000 --6.282500 -0.752500 0.997500 336470592.000000 --8.155000 -1.242500 -0.297500 336570880.000000 --8.365000 -0.227500 2.590000 336670496.000000 --4.025000 1.277500 2.782500 336770848.000000 --2.625000 0.542500 1.645000 336870496.000000 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339070912.000000 --5.145000 0.297500 2.292500 339170432.000000 --5.110000 0.052500 2.257500 339270624.000000 --5.110000 0.507500 2.257500 339370592.000000 --5.092500 0.017500 2.222500 339471360.000000 --5.110000 0.087500 2.275000 339570400.000000 --5.092500 0.612500 2.257500 339670400.000000 --5.110000 0.262500 2.240000 339770592.000000 --5.110000 0.157500 2.222500 339870560.000000 --5.127500 -0.087500 2.257500 339970912.000000 --5.110000 0.752500 2.257500 340070400.000000 --5.110000 0.262500 2.240000 340170656.000000 --5.110000 0.402500 2.240000 340270752.000000 --5.110000 0.297500 2.257500 340370624.000000 --5.110000 0.472500 2.607500 340470944.000000 --5.110000 0.402500 2.257500 340570432.000000 --5.127500 0.052500 2.257500 340670624.000000 --5.110000 0.612500 2.275000 340770624.000000 --5.040000 1.102500 2.222500 340871008.000000 --5.162500 -0.612500 2.555000 340970528.000000 --5.127500 -0.297500 2.257500 341070464.000000 --5.145000 0.717500 2.240000 341170848.000000 --5.092500 1.802500 2.222500 341270464.000000 --5.162500 -1.592500 2.257500 341370944.000000 --5.145000 0.402500 2.222500 341471104.000000 --5.110000 0.262500 2.257500 341570624.000000 --5.127500 0.367500 2.240000 341672576.000000 --5.110000 0.122500 2.257500 341770912.000000 --5.145000 -0.262500 2.240000 341870720.000000 --5.180000 -1.137500 2.257500 341970816.000000 --5.110000 1.382500 2.240000 342070368.000000 --5.162500 0.787500 2.240000 342170368.000000 --5.320000 0.787500 2.397500 342270400.000000 --12.302500 -3.027500 -2.975000 342370400.000000 --43.557499 5.127500 -0.560000 342470656.000000 --77.875000 14.892500 -4.655000 342570784.000000 --104.370003 -7.542500 -5.075000 342671168.000000 --115.797501 6.492500 -3.552500 342770592.000000 --130.235001 -3.622500 0.525000 342870688.000000 --138.425003 -5.407500 3.307500 342970496.000000 --151.567505 -18.637501 8.032500 343070720.000000 --158.654999 -26.267500 18.707500 343170496.000000 --147.507507 -21.262501 13.737500 343270784.000000 --87.605003 -15.417500 17.850000 343370464.000000 --93.187500 5.932500 0.000000 343470752.000000 --92.697502 8.382500 -0.822500 343570464.000000 --147.157501 18.777500 -1.137500 343670720.000000 --171.464996 -1.487500 1.767500 343770496.000000 --141.522507 8.207500 6.142500 343870880.000000 --127.120003 12.757500 14.700000 343970560.000000 --114.152504 -1.312500 18.200001 344070880.000000 --92.032501 -0.437500 19.757500 344170496.000000 --19.844999 -0.367500 13.947500 344270880.000000 --9.800000 3.167500 0.385000 344370496.000000 --4.392500 -2.362500 2.555000 344470880.000000 --5.267500 0.227500 2.362500 344570496.000000 --5.215000 0.227500 2.380000 344670848.000000 --5.215000 0.227500 2.345000 344770496.000000 --5.197500 0.262500 2.310000 344870784.000000 --5.582500 0.542500 1.155000 344970496.000000 --8.172500 9.817500 4.987500 345070880.000000 --8.610000 11.217500 4.935000 345170496.000000 --7.332500 4.847500 0.787500 345270816.000000 --0.630000 -10.307500 -3.465000 345370464.000000 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--76.754997 -5.687500 14.315001 347470592.000000 --62.562500 -14.822500 11.882500 347570624.000000 --12.197500 17.482500 13.825000 347670432.000000 --5.145000 -0.682500 2.607500 347770368.000000 --5.057500 -1.837500 2.292500 347870560.000000 --5.180000 1.837500 2.240000 347970368.000000 --5.110000 -0.297500 2.257500 348070368.000000 --5.092500 8.662500 1.750000 348170400.000000 --4.987500 -10.587500 3.657500 348270400.000000 --5.285000 2.502500 2.362500 348370336.000000 --5.180000 1.942500 2.205000 348470432.000000 --5.162500 0.997500 2.572500 348570336.000000 --5.162500 1.242500 3.010000 348670368.000000 --5.145000 1.627500 2.625000 348770464.000000 --5.162500 1.102500 2.292500 348870400.000000 --5.145000 -0.472500 2.327500 348970784.000000 --5.145000 -0.367500 2.397500 349070624.000000 --5.162500 0.927500 2.205000 349170496.000000 --5.110000 0.297500 2.222500 349270688.000000 --5.145000 -0.472500 2.625000 349370400.000000 --5.197500 1.312500 2.222500 349470400.000000 --5.145000 0.332500 2.240000 349571552.000000 --5.127500 -0.472500 2.380000 349670560.000000 --5.180000 0.682500 2.240000 349770688.000000 --5.197500 0.402500 2.205000 349870528.000000 --5.180000 0.402500 2.205000 349970944.000000 --5.145000 0.262500 2.187500 350070496.000000 --5.162500 0.192500 2.240000 350170400.000000 --5.127500 -0.472500 2.222500 350270368.000000 --5.180000 0.997500 2.205000 350370528.000000 --5.127500 -0.507500 2.537500 350470496.000000 --5.180000 0.472500 2.555000 350570752.000000 --5.180000 1.067500 2.205000 350670464.000000 --5.180000 0.402500 2.222500 350772800.000000 --5.110000 0.787500 2.205000 350870432.000000 --5.180000 0.052500 2.222500 350973920.000000 --5.127500 0.297500 2.205000 351070400.000000 --5.145000 0.122500 2.222500 351170336.000000 --5.145000 0.157500 2.170000 351270496.000000 --5.145000 -0.157500 2.345000 351370368.000000 --5.197500 0.052500 2.240000 351470624.000000 --5.162500 0.542500 2.187500 351570528.000000 --5.180000 0.437500 2.222500 351670496.000000 --5.145000 -1.347500 2.257500 351770816.000000 --6.090000 2.187500 0.052500 351870528.000000 --12.320000 -1.697500 9.292500 351970432.000000 --38.727501 6.177500 10.640000 352070464.000000 --108.937500 -2.642500 7.962500 352170944.000000 --78.785004 -0.087500 3.902500 352270464.000000 --44.607502 0.157500 1.977500 352370688.000000 --46.480000 3.832500 4.970000 352470528.000000 --42.017502 2.397500 4.462500 352570784.000000 --66.307503 -0.682500 -0.052500 352670560.000000 --107.870003 -2.817500 6.475000 352770944.000000 --140.367508 -9.187500 19.687500 352870496.000000 --176.137497 -16.852501 24.500000 352971072.000000 --179.305008 -19.757500 23.887501 353070528.000000 --147.122498 -8.137500 -1.330000 353170720.000000 --135.660004 -6.282500 0.087500 353270496.000000 --147.384995 10.937500 -9.607500 353371040.000000 --185.027496 23.222500 -28.770000 353470656.000000 --178.027496 10.867500 -0.367500 353570944.000000 --152.687500 9.327500 16.695000 353670400.000000 --104.842499 -18.147501 12.652500 353770368.000000 --78.050003 -22.837500 2.432500 353870368.000000 --4.357500 0.052500 -4.235000 353970368.000000 --12.687500 -0.367500 -1.312500 354070368.000000 --11.060000 0.192500 6.492500 354170528.000000 --5.022500 0.262500 3.097500 354270560.000000 --5.250000 0.297500 2.292500 354370528.000000 --5.232500 0.262500 2.292500 354470752.000000 --5.197500 0.297500 2.275000 354570816.000000 --5.232500 0.262500 2.275000 354670496.000000 --4.970000 0.297500 6.790000 354770688.000000 --8.767500 0.157500 5.285000 354870464.000000 --14.595000 -8.522500 13.107500 354971008.000000 --69.107498 -8.557500 20.475000 355070688.000000 --129.867508 59.517502 20.264999 355170912.000000 --111.457504 -8.907500 2.310000 355270496.000000 --122.167503 21.927500 10.955000 355370912.000000 --135.975006 -9.082500 5.022500 355470624.000000 --130.602493 -10.237500 -7.560000 355570848.000000 --130.585007 -5.057500 -11.585000 355670496.000000 --139.335007 6.247500 -24.465000 355771072.000000 --123.129997 -0.647500 -9.800000 355870464.000000 --117.389999 -5.757500 -11.987500 355971040.000000 --138.880005 2.152500 -3.167500 356070592.000000 --148.242508 -3.237500 -3.150000 356170496.000000 --148.610001 -23.747499 -10.290000 356270912.000000 --158.690002 -16.782499 -3.465000 356370496.000000 --153.335007 -10.587500 25.322500 356470944.000000 --106.697502 -10.692500 36.365002 356570496.000000 --60.567501 -11.812500 28.980000 356670848.000000 --23.450001 12.057500 16.030001 356770496.000000 --5.197500 10.622500 7.262500 356870880.000000 --5.250000 -10.832500 2.485000 356970592.000000 --5.215000 0.857500 2.292500 357070784.000000 --5.127500 6.527500 2.135000 357170560.000000 --5.215000 -7.647500 2.275000 357270880.000000 --5.180000 7.892500 0.700000 357370656.000000 --4.970000 17.027500 1.960000 357470752.000000 --5.355000 -11.392500 1.732500 357570368.000000 --5.180000 -3.342500 0.525000 357670752.000000 --5.197500 -0.437500 1.802500 357770496.000000 --5.197500 -0.122500 2.485000 357870528.000000 --5.127500 0.682500 2.257500 357970368.000000 --5.267500 -1.697500 2.397500 358070400.000000 --5.162500 0.297500 2.275000 358170816.000000 --5.197500 -0.017500 2.275000 358270624.000000 --5.162500 0.437500 2.415000 358370528.000000 --5.162500 0.577500 2.222500 358470688.000000 --5.162500 0.752500 2.222500 358570528.000000 --5.215000 -0.052500 2.222500 358670784.000000 --5.197500 0.437500 2.240000 358770496.000000 --5.267500 0.402500 4.812500 358870912.000000 --5.232500 0.682500 2.345000 358970784.000000 --5.180000 -0.437500 2.327500 359070496.000000 --5.145000 0.227500 2.450000 359170848.000000 --5.162500 0.367500 2.222500 359270560.000000 --5.180000 0.052500 2.257500 359370784.000000 --5.162500 0.332500 2.240000 359470496.000000 --5.162500 -0.017500 2.257500 359570784.000000 --5.250000 0.017500 1.120000 359670464.000000 --6.317500 0.717500 -1.715000 359770784.000000 --16.555000 -4.987500 -6.545000 359870496.000000 --73.675003 15.907500 -17.797501 359970784.000000 --120.557503 11.077500 -4.217500 360070496.000000 --176.907501 -11.147500 -30.817501 360170784.000000 --197.994995 -4.742500 -9.712500 360270464.000000 --168.139999 6.002500 -4.602500 360370784.000000 --137.427505 12.022500 10.482500 360470624.000000 --103.074997 -2.677500 18.830000 360570912.000000 --83.824997 -14.997500 17.639999 360670496.000000 --136.972504 -30.187500 -11.077500 360770880.000000 --183.820007 -39.287498 -20.282499 360870496.000000 --251.895004 0.367500 -10.045000 360970784.000000 --227.062500 -6.422500 10.482500 361070496.000000 --154.157501 -3.202500 22.557501 361170912.000000 --102.637497 7.682500 -1.400000 361270464.000000 --5.040000 -0.892500 -1.312500 361370752.000000 --5.477500 8.837500 -13.842500 361470464.000000 --5.477500 1.172500 2.485000 361570752.000000 --5.215000 0.332500 2.327500 361670464.000000 --5.232500 0.332500 2.310000 361770848.000000 --5.197500 0.332500 2.310000 361870400.000000 --5.162500 0.577500 -0.840000 361971136.000000 --5.442500 1.662500 -28.455000 362070496.000000 --11.025000 -2.117500 15.067500 362170784.000000 --12.950000 -0.577500 12.250000 362270464.000000 --18.812500 13.842500 17.167500 362370880.000000 --43.924999 -4.042500 13.772500 362470496.000000 --74.445000 -7.822500 16.957500 362570848.000000 --108.972504 4.077500 6.720000 362670496.000000 --138.354996 16.782499 2.415000 362770816.000000 --165.217499 9.257500 4.112500 362870496.000000 --151.445007 6.982500 -6.020000 362970720.000000 --140.210007 9.467500 -3.220000 363070464.000000 --153.125000 5.582500 1.102500 363170784.000000 --158.952499 -1.522500 2.905000 363270464.000000 --152.774994 0.612500 4.480000 363370752.000000 --141.330002 -9.152500 8.767500 363470592.000000 --124.285004 4.042500 11.865000 363570944.000000 --104.842499 -2.152500 10.237500 363670496.000000 --94.622498 5.582500 1.312500 363770880.000000 --84.122498 4.077500 -3.500000 363870464.000000 --74.970001 -0.262500 -6.772500 363970496.000000 --52.185001 -20.177500 -5.512500 364070784.000000 --17.780001 66.097504 5.722500 364170464.000000 --5.285000 -20.142500 13.755000 364270720.000000 --5.197500 4.532500 2.467500 364370400.000000 --5.180000 3.517500 2.222500 364470784.000000 --5.127500 0.367500 2.275000 364570464.000000 --5.127500 -0.227500 2.292500 364670816.000000 --5.075000 1.977500 2.257500 364770400.000000 --5.040000 -11.077500 2.485000 364870432.000000 --5.180000 5.407500 2.222500 364970464.000000 --5.145000 -2.502500 2.222500 365070560.000000 --5.110000 1.872500 2.100000 365170560.000000 --5.057500 8.522500 -7.805000 365270368.000000 --5.162500 -6.597500 2.362500 365370400.000000 --5.180000 6.492500 2.170000 365471168.000000 --5.180000 -3.517500 2.327500 365571008.000000 --5.145000 0.017500 2.257500 365670880.000000 --5.127500 -0.472500 2.275000 365770400.000000 --5.162500 1.312500 2.257500 365870656.000000 --5.180000 1.137500 2.240000 365970464.000000 --5.180000 0.402500 2.257500 366070464.000000 --4.987500 -2.782500 2.397500 366170432.000000 --5.215000 3.237500 2.205000 366270560.000000 --5.145000 -0.087500 2.257500 366370784.000000 --5.180000 0.717500 2.240000 366470624.000000 --5.127500 -0.647500 2.257500 366570400.000000 --5.215000 -0.787500 2.257500 366670784.000000 --5.197500 0.857500 2.275000 366770432.000000 --5.180000 1.347500 2.240000 366870368.000000 --5.110000 0.997500 2.240000 366970400.000000 --5.197500 -1.347500 2.292500 367070368.000000 --5.197500 1.102500 2.257500 367170368.000000 --5.180000 0.332500 2.257500 367270528.000000 --5.180000 0.192500 2.257500 367370432.000000 --5.110000 0.612500 2.310000 367470624.000000 --5.197500 -0.647500 2.257500 367570528.000000 --5.197500 0.927500 2.222500 367670528.000000 --5.197500 -0.122500 2.240000 367770592.000000 --5.215000 0.367500 2.257500 367870528.000000 --5.180000 1.802500 2.222500 367970560.000000 --5.197500 -0.962500 2.275000 368070848.000000 --5.197500 0.087500 2.240000 368172896.000000 --5.197500 0.262500 2.257500 368270528.000000 --5.250000 0.262500 2.240000 368370688.000000 --5.250000 0.227500 2.257500 368470496.000000 --5.267500 0.262500 2.222500 368570784.000000 --5.232500 0.297500 2.240000 368670528.000000 --5.250000 0.227500 2.240000 368770848.000000 --5.215000 0.262500 2.240000 368870400.000000 --5.110000 -3.727500 2.450000 368970368.000000 --5.232500 -0.717500 2.257500 369070464.000000 --5.127500 -3.167500 2.345000 369170656.000000 --5.355000 12.547500 2.047500 369270720.000000 --4.882500 3.622500 2.240000 369370656.000000 --5.390000 -9.922500 2.520000 369470432.000000 --5.180000 -3.167500 2.310000 369570624.000000 --5.302500 10.797500 2.100000 369670624.000000 --4.882500 0.297500 2.520000 369770368.000000 --5.267500 5.442500 2.205000 369870496.000000 --5.267500 -8.732500 2.415000 369970560.000000 --5.127500 -8.207500 2.415000 370070784.000000 --5.337500 9.222500 2.065000 370170400.000000 --5.180000 -3.062500 2.327500 370270496.000000 --5.250000 2.537500 2.222500 370370528.000000 --5.215000 -0.017500 2.240000 370470432.000000 --5.180000 -0.367500 2.292500 370570368.000000 --5.232500 2.467500 2.205000 370670496.000000 --5.215000 -0.752500 2.257500 370770496.000000 --5.215000 0.192500 2.257500 370870528.000000 --5.022500 -7.927500 2.537500 370970464.000000 --5.110000 -3.902500 2.345000 371071072.000000 --5.285000 4.847500 2.170000 371170560.000000 --5.057500 16.957500 2.065000 371270432.000000 --4.987500 11.287500 2.502500 371370400.000000 --5.215000 -3.832500 2.310000 371470528.000000 --5.250000 -5.232500 2.327500 371570560.000000 --5.215000 -2.047500 2.240000 371670592.000000 --5.250000 -24.657499 2.852500 371770496.000000 --5.250000 -1.417500 2.240000 371870784.000000 --5.302500 2.537500 2.187500 371970464.000000 --5.722500 21.437500 2.170000 372071552.000000 --5.600000 -6.422500 5.582500 372170528.000000 --5.320000 1.347500 2.310000 372270400.000000 --5.250000 0.647500 2.205000 372370528.000000 --5.250000 -0.122500 2.222500 372470688.000000 --5.250000 0.402500 2.240000 372570688.000000 --5.232500 -0.157500 2.222500 372670400.000000 --5.232500 3.027500 2.222500 372770496.000000 --5.197500 -6.387500 2.345000 372870528.000000 --5.250000 4.007500 2.170000 372970496.000000 --5.180000 0.087500 2.257500 373070560.000000 --5.320000 1.347500 2.222500 373170400.000000 --5.250000 -0.192500 2.240000 373270560.000000 --5.267500 0.367500 2.222500 373370560.000000 --5.232500 0.332500 2.240000 373470528.000000 --5.215000 -1.732500 2.275000 373570496.000000 --5.285000 2.502500 2.205000 373670432.000000 --5.232500 0.507500 2.240000 373770912.000000 --5.250000 -0.157500 2.257500 373871808.000000 --5.302500 8.907500 2.170000 373971040.000000 --5.285000 -16.187500 2.835000 374070400.000000 --5.425000 10.062500 2.065000 374170528.000000 --5.250000 -4.497500 2.362500 374272864.000000 --5.302500 2.502500 2.222500 374370880.000000 --5.162500 -0.612500 2.450000 374470432.000000 --5.302500 6.142500 2.467500 374570560.000000 --5.232500 -7.997500 2.380000 374671168.000000 --5.355000 5.897500 2.117500 374770944.000000 --5.267500 -0.507500 2.222500 374870400.000000 --5.285000 -0.227500 2.257500 374970400.000000 --5.267500 0.087500 2.240000 375070496.000000 --5.285000 0.367500 2.240000 375170720.000000 --5.285000 0.262500 2.222500 375270496.000000 --5.162500 1.417500 2.327500 375370368.000000 --5.302500 8.452500 2.222500 375470432.000000 --5.250000 -0.402500 2.275000 375570560.000000 --5.215000 0.822500 2.257500 375670560.000000 --5.320000 -4.707500 2.310000 375770400.000000 --5.092500 -20.037500 2.957500 375870368.000000 --5.495000 13.247500 2.065000 375970368.000000 --5.285000 1.592500 2.257500 376070496.000000 --5.302500 0.997500 2.187500 376170528.000000 --5.267500 0.682500 2.257500 376270368.000000 --5.250000 -2.047500 2.310000 376370368.000000 --5.337500 2.677500 2.187500 376470496.000000 --5.267500 0.192500 2.222500 376570528.000000 --5.285000 0.437500 2.222500 376670560.000000 --5.267500 0.472500 2.257500 376770784.000000 --5.267500 0.297500 2.205000 376870496.000000 --5.250000 0.297500 2.222500 376970432.000000 --5.215000 0.332500 2.222500 377070336.000000 --5.250000 0.297500 2.222500 377170336.000000 --5.250000 0.332500 2.222500 377270368.000000 --5.267500 0.297500 2.222500 377370432.000000 --5.232500 0.297500 2.222500 377470528.000000 --5.267500 0.297500 2.222500 377570784.000000 --5.302500 0.297500 2.240000 377670528.000000 --5.285000 0.297500 2.257500 377770464.000000 --5.302500 0.262500 2.222500 377870752.000000 --5.250000 0.297500 2.205000 377970592.000000 --5.302500 0.297500 2.222500 378070880.000000 --5.267500 0.262500 2.257500 378170528.000000 --5.267500 0.297500 2.205000 378270944.000000 --5.250000 0.297500 2.240000 378370496.000000 --5.285000 0.297500 2.222500 378470944.000000 --5.232500 0.297500 2.222500 378570496.000000 --5.285000 0.297500 2.240000 378670784.000000 --5.285000 0.262500 2.240000 378770496.000000 --5.320000 0.262500 2.222500 378870752.000000 --5.302500 0.262500 2.240000 378970496.000000 --5.337500 0.227500 2.240000 379070784.000000 --5.267500 0.297500 2.240000 379170464.000000 --5.285000 0.297500 2.257500 379270720.000000 --5.250000 0.297500 2.240000 379370464.000000 --5.302500 0.332500 2.240000 379470880.000000 --5.267500 0.227500 2.240000 379570464.000000 --5.285000 0.122500 2.257500 379670752.000000 --5.285000 0.087500 2.257500 379770496.000000 --5.057500 -20.877501 -3.045000 379870752.000000 --5.810000 -9.362500 -5.967500 379970592.000000 --5.337500 2.082500 1.120000 380070752.000000 --5.320000 -1.417500 2.240000 380170496.000000 --5.372500 -0.227500 2.240000 380270848.000000 --5.390000 0.402500 -1.102500 380370496.000000 --5.372500 -0.052500 1.382500 380470848.000000 --5.337500 0.367500 0.035000 380570496.000000 --5.250000 0.227500 1.855000 380670816.000000 --5.285000 0.227500 1.662500 380770496.000000 --5.250000 0.262500 2.292500 380870912.000000 --5.250000 0.332500 2.275000 380970496.000000 --5.285000 0.227500 2.257500 381070880.000000 --5.250000 0.367500 2.257500 381170496.000000 --5.267500 0.157500 2.257500 381270816.000000 --5.232500 0.367500 0.980000 381370496.000000 --5.232500 0.332500 2.327500 381471072.000000 --5.232500 0.227500 2.292500 381570464.000000 --5.267500 0.332500 2.275000 381670816.000000 --5.215000 0.332500 2.257500 381770496.000000 --5.232500 0.297500 2.275000 381870880.000000 --5.180000 0.402500 2.275000 381970496.000000 --5.197500 0.542500 2.275000 382070816.000000 --5.215000 0.577500 2.275000 382170496.000000 --5.215000 0.227500 2.275000 382270912.000000 --5.232500 0.227500 2.292500 382370496.000000 --5.215000 0.087500 2.310000 382570880.000000 --5.215000 0.227500 2.310000 382670496.000000 --5.267500 0.262500 2.327500 382770848.000000 --5.250000 0.262500 2.275000 382870496.000000 --5.232500 0.297500 2.292500 382971104.000000 --5.232500 0.332500 2.275000 383070496.000000 --5.232500 0.332500 2.275000 383170880.000000 --5.232500 0.297500 2.257500 383270496.000000 --5.232500 0.157500 2.257500 383370688.000000 --5.215000 0.192500 2.275000 383470464.000000 --5.197500 0.332500 2.275000 383570848.000000 --5.215000 0.297500 2.292500 383670368.000000 --5.232500 0.192500 2.275000 383770368.000000 --5.197500 0.227500 2.292500 383870368.000000 --5.197500 0.367500 2.257500 383970432.000000 --5.197500 0.297500 2.275000 384070432.000000 --5.232500 0.192500 2.275000 384172736.000000 --5.232500 0.367500 2.275000 384270528.000000 --5.215000 0.437500 2.240000 384372768.000000 --5.250000 0.542500 2.257500 384470592.000000 --5.215000 0.122500 2.257500 384570752.000000 --5.250000 0.297500 2.292500 384670592.000000 --5.197500 0.507500 2.257500 384770720.000000 --5.232500 0.192500 2.275000 384870592.000000 --5.215000 0.402500 2.275000 384970784.000000 --5.232500 0.087500 2.257500 385070880.000000 --5.232500 0.262500 2.275000 385170848.000000 --5.250000 0.227500 2.275000 385270560.000000 --5.250000 0.087500 2.257500 385370976.000000 --5.250000 0.227500 2.292500 385470464.000000 --5.215000 0.367500 2.257500 385570752.000000 --5.250000 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b/src/sensor_fusion/design/data/100ms/orientation/yaw/gyro.txt deleted file mode 100755 index 7a02ad1..0000000 --- a/src/sensor_fusion/design/data/100ms/orientation/yaw/gyro.txt +++ /dev/null @@ -1,664 +0,0 @@ -1.890000 0.472500 -0.472500 603086592.000000 --2.747500 0.962500 -14.805000 603186432.000000 --5.145000 0.262500 2.257500 603286272.000000 --5.127500 0.297500 2.240000 603386176.000000 --5.162500 0.262500 2.257500 603486528.000000 --5.197500 0.262500 2.240000 603588032.000000 --5.162500 0.262500 2.257500 603686336.000000 --5.197500 0.297500 2.275000 603786240.000000 --5.215000 0.262500 2.240000 603886208.000000 --5.180000 0.262500 2.257500 603986048.000000 --5.145000 0.262500 2.257500 604086208.000000 --5.215000 0.297500 2.257500 604186240.000000 --5.215000 0.297500 2.257500 604286080.000000 --5.215000 0.262500 2.275000 604386304.000000 --5.180000 0.297500 2.292500 604486080.000000 --5.197500 0.332500 2.257500 604586432.000000 --5.180000 0.332500 2.275000 604686720.000000 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0.157500 2.380000 611086208.000000 --5.267500 0.227500 2.292500 611186240.000000 --5.302500 0.262500 2.275000 611286336.000000 --5.267500 0.297500 2.292500 611386368.000000 --5.302500 0.262500 2.275000 611486080.000000 --5.285000 0.262500 2.257500 611586048.000000 --5.232500 0.297500 2.275000 611686272.000000 --5.267500 0.717500 1.785000 611786112.000000 --6.020000 0.927500 -41.650002 611886080.000000 --7.927500 1.872500 -77.805000 611986624.000000 --7.962500 2.397500 -90.667503 612086400.000000 --10.622500 4.847500 -105.840004 612186432.000000 --11.375000 16.467501 -163.869995 612286528.000000 --2.170000 6.002500 -199.097504 612386240.000000 --2.397500 3.797500 -156.677505 612486272.000000 --3.290000 2.537500 -102.025002 612586560.000000 --2.747500 2.712500 -120.889999 612686080.000000 --2.152500 2.222500 -154.770004 612786112.000000 --3.027500 10.342500 -152.582504 612886528.000000 --1.312500 -6.527500 -92.504997 612986240.000000 --3.360000 -0.402500 -87.132500 613086592.000000 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-0.262500 9.922500 619386304.000000 --5.267500 -1.592500 4.060000 619486144.000000 --7.805000 3.657500 -76.072502 619586752.000000 --10.062500 3.412500 -133.227493 619686272.000000 --13.370000 14.997500 -144.619995 619786176.000000 --10.115000 4.392500 -158.112503 619886528.000000 --8.207500 1.627500 -120.417503 619986240.000000 --9.957500 7.612500 -93.467499 620086272.000000 --10.185000 14.472500 -77.419998 620186560.000000 --9.852500 22.522501 -64.154999 620286144.000000 -3.080000 -11.322500 -106.190002 620386304.000000 -2.765000 -28.052500 -97.264999 620486592.000000 --4.427500 -13.632500 -59.605000 620586304.000000 --5.617500 -5.022500 -30.362499 620686592.000000 --8.382500 -5.792500 -65.957497 620786240.000000 --12.407500 -0.892500 -86.029999 620886592.000000 --9.730000 -2.817500 -64.732498 620986240.000000 --13.475000 0.367500 -68.932503 621086464.000000 --5.302500 -1.662500 0.927500 621186688.000000 --4.935000 -0.192500 2.572500 621286144.000000 --5.250000 0.262500 2.537500 621386496.000000 --5.250000 0.227500 2.432500 621486656.000000 --5.250000 0.262500 2.397500 621586112.000000 --5.250000 0.262500 2.380000 621686400.000000 --5.232500 0.262500 2.345000 621786624.000000 --5.250000 0.262500 2.345000 621886272.000000 --5.267500 0.262500 2.327500 621986688.000000 --5.267500 0.262500 2.310000 622086656.000000 --5.757500 0.717500 2.292500 622186240.000000 --5.845000 0.822500 0.840000 622286592.000000 --9.940000 2.187500 -29.032499 622386688.000000 --19.320000 7.787500 -89.040001 622486272.000000 --20.440001 2.152500 -154.664993 622586432.000000 --21.385000 1.977500 -161.735001 622686720.000000 --22.295000 2.117500 -167.335007 622786240.000000 --26.985001 2.957500 -216.317505 622886592.000000 --29.452499 2.887500 -246.837494 622987072.000000 --26.267500 2.467500 -213.990005 623086272.000000 --16.292500 1.837500 -122.342499 623186112.000000 --19.635000 3.202500 -144.479996 623286592.000000 --12.915000 5.022500 -126.349998 623386304.000000 --11.672500 4.217500 -110.145004 623486144.000000 --13.107500 4.112500 -97.422501 623586560.000000 --10.937500 1.802500 -87.937500 623686080.000000 --5.985000 2.362500 -68.862503 623786112.000000 -5.460000 18.217501 -73.150002 623886272.000000 --4.305000 9.292500 -54.355000 623986112.000000 --20.615000 1.942500 -104.527504 624086208.000000 -2.572500 -6.702500 6.895000 624186688.000000 --5.985000 -0.787500 1.137500 624286144.000000 --4.987500 0.542500 3.185000 624386368.000000 --5.390000 0.227500 2.012500 624486528.000000 --5.232500 0.367500 2.380000 624586240.000000 --5.302500 0.297500 2.257500 624686336.000000 --5.267500 0.297500 2.275000 624786560.000000 --5.250000 0.332500 2.292500 624886208.000000 --5.267500 0.297500 2.275000 624986624.000000 --5.635000 0.647500 2.012500 625086656.000000 --5.582500 -0.472500 6.107500 625186240.000000 --6.825000 -1.487500 3.517500 625286336.000000 --9.677500 -4.427500 -14.525000 625386560.000000 --10.185000 5.267500 -38.727501 625486208.000000 --9.327500 5.897500 -56.227501 625586752.000000 --15.557500 10.202500 -64.925003 625686400.000000 --13.562500 7.787500 -93.660004 625786112.000000 --3.832500 1.977500 -151.252502 625886272.000000 --4.690000 1.802500 -140.175003 625986368.000000 --9.590000 12.687500 -52.674999 626086208.000000 --7.787500 11.672500 -42.752499 626186432.000000 --4.515000 2.572500 -30.135000 626286656.000000 -8.417500 -17.867500 -98.245003 626386240.000000 --3.570000 -10.552500 -23.397501 626486272.000000 --6.212500 -23.327499 -93.099998 626586560.000000 --7.682500 -3.692500 -63.892502 626686080.000000 --10.745000 0.052500 -88.847504 626786432.000000 --10.692500 2.082500 -105.489998 626886656.000000 --11.252500 1.592500 -114.345001 626986304.000000 --9.397500 3.482500 -89.582497 627086208.000000 --6.965000 0.542500 -37.974998 627186752.000000 --8.190000 6.877500 -50.172501 627286336.000000 --8.400000 2.957500 -29.557501 627386496.000000 --8.190000 -1.172500 -26.827499 627486656.000000 --3.832500 37.397499 -122.220001 627586240.000000 -2.800000 -3.132500 -6.107500 627686592.000000 --5.145000 1.522500 -3.990000 627786688.000000 --5.127500 1.137500 2.205000 627886208.000000 --5.250000 -1.172500 2.292500 627986688.000000 --5.110000 1.277500 -8.382500 628086656.000000 --4.987500 0.822500 -17.762501 628186240.000000 --5.232500 0.332500 -4.427500 628286336.000000 --5.250000 -2.537500 2.345000 628386560.000000 --5.250000 -1.312500 2.327500 628486272.000000 --5.267500 1.277500 2.275000 628586688.000000 --5.215000 0.892500 2.240000 628686848.000000 --5.197500 0.227500 2.345000 628785920.000000 --5.337500 2.642500 2.257500 628885824.000000 --5.250000 -3.272500 2.345000 628985856.000000 --5.232500 0.647500 2.292500 629086144.000000 --5.285000 1.312500 2.222500 629185792.000000 --5.232500 0.192500 2.240000 629285888.000000 --5.180000 -2.817500 2.327500 629386368.000000 --5.320000 2.852500 2.205000 629485824.000000 --5.267500 0.577500 2.240000 629585728.000000 --5.215000 0.367500 2.240000 629685696.000000 --5.250000 0.297500 2.257500 629785664.000000 --5.267500 0.472500 2.257500 629887488.000000 --5.285000 -0.017500 2.240000 629985664.000000 --5.285000 0.262500 2.257500 630085824.000000 --5.267500 0.402500 2.240000 630185728.000000 --5.267500 0.227500 2.257500 630285888.000000 --5.285000 -0.647500 2.275000 630385920.000000 --5.267500 0.752500 2.205000 630486144.000000 --5.302500 0.962500 2.205000 630586112.000000 --5.232500 -0.157500 2.257500 630686144.000000 --5.145000 -2.012500 2.345000 630788416.000000 --5.337500 2.362500 2.257500 630885824.000000 --5.215000 -3.237500 2.327500 630986304.000000 --5.355000 5.792500 2.152500 631086272.000000 --5.285000 -0.612500 2.275000 631186368.000000 --5.197500 -4.847500 2.362500 631285760.000000 --5.407500 5.757500 2.152500 631386496.000000 --5.302500 0.542500 2.222500 631485952.000000 --5.267500 -2.397500 2.310000 631586368.000000 --5.145000 -9.257500 3.465000 631685760.000000 --5.495000 14.612500 2.030000 631785664.000000 --5.285000 -4.182500 2.362500 631886080.000000 --5.267500 -5.197500 2.345000 631986816.000000 --5.390000 3.412500 2.240000 632087168.000000 --5.320000 2.222500 2.205000 632185856.000000 --5.337500 7.542500 2.117500 632286016.000000 --5.302500 -6.107500 2.380000 632386048.000000 --5.232500 -2.992500 2.292500 632485888.000000 --5.320000 2.712500 2.222500 632587264.000000 --5.372500 4.812500 2.170000 632686016.000000 --5.320000 -2.607500 2.292500 632788352.000000 --5.320000 -0.647500 2.240000 632886976.000000 --5.337500 2.292500 2.170000 632986560.000000 --5.250000 -4.812500 2.327500 633087040.000000 --5.390000 2.117500 2.222500 633186880.000000 --5.407500 6.492500 2.135000 633286848.000000 --5.390000 3.097500 2.187500 633387136.000000 --5.180000 -6.632500 2.432500 633486080.000000 --5.407500 4.112500 2.170000 633586816.000000 --5.337500 -0.087500 2.257500 633686080.000000 --5.337500 0.787500 2.222500 633786688.000000 --5.337500 4.427500 2.222500 633885888.000000 --5.390000 -1.942500 2.380000 633985984.000000 --5.320000 -1.627500 2.257500 634086272.000000 --5.355000 -0.157500 2.222500 634186880.000000 --5.355000 1.312500 2.222500 634286656.000000 --5.320000 -0.472500 2.257500 634386944.000000 --5.442500 1.312500 2.222500 634486144.000000 --5.355000 0.122500 2.275000 634586304.000000 --5.320000 -2.607500 2.292500 634686912.000000 --5.425000 3.762500 2.170000 634787328.000000 --5.302500 3.657500 2.187500 634886208.000000 --5.355000 -4.042500 2.310000 634986688.000000 --5.355000 0.122500 2.240000 635086080.000000 --5.355000 0.367500 2.222500 635186496.000000 --5.355000 0.332500 2.240000 635286976.000000 --5.355000 -0.262500 2.257500 635386048.000000 --5.372500 1.347500 2.187500 635486528.000000 --5.355000 -0.192500 2.240000 635586304.000000 --5.355000 0.577500 2.222500 635686016.000000 --5.390000 -2.502500 2.327500 635786432.000000 --5.390000 0.542500 2.240000 635885952.000000 --5.460000 5.127500 2.170000 635986368.000000 --5.337500 -2.222500 2.257500 636087232.000000 --5.355000 0.332500 2.222500 636187712.000000 --5.372500 1.102500 2.187500 636286912.000000 --5.355000 -0.402500 2.222500 636386944.000000 --5.425000 4.707500 4.970000 636486848.000000 --6.090000 6.177500 43.610001 636586496.000000 --7.735000 1.557500 92.382500 636687808.000000 --7.997500 -4.777500 139.527496 636786304.000000 --8.452500 3.762500 202.264999 636885504.000000 --11.007500 17.027500 238.017502 636985664.000000 --12.967500 -2.362500 183.242508 637085632.000000 --7.000000 -12.967500 103.477501 637185536.000000 --5.460000 2.572500 13.370000 637285632.000000 --5.372500 0.787500 2.222500 637385536.000000 --5.337500 2.432500 2.170000 637485568.000000 --5.372500 -0.612500 2.275000 637585728.000000 --5.337500 0.612500 2.240000 637685504.000000 --5.372500 -0.297500 2.275000 637785536.000000 --5.040000 10.307500 3.167500 637885376.000000 --7.262500 -1.207500 55.562500 637985664.000000 --7.437500 -6.772500 81.987503 638085376.000000 --4.357500 -17.867500 145.740005 638185472.000000 --2.065000 17.727501 291.707489 638285376.000000 --7.315000 9.852500 158.287506 638385408.000000 --7.437500 2.957500 115.937500 638485312.000000 --6.545000 5.092500 71.172501 638585408.000000 --7.087500 2.502500 64.837502 638685376.000000 --7.700000 -2.467500 96.425003 638787072.000000 --6.230000 2.222500 56.700001 638885376.000000 --7.595000 7.437500 91.945000 638985536.000000 --8.347500 1.452500 87.937500 639085696.000000 --7.262500 -5.022500 77.367500 639185344.000000 -1.365000 16.292500 65.152504 639285696.000000 -11.497500 6.142500 83.702499 639385664.000000 -11.410000 -22.102501 53.025002 639485504.000000 --5.512500 34.597500 46.287498 639585536.000000 --24.885000 56.577499 97.457497 639685760.000000 --44.257500 -8.312500 77.542503 639785536.000000 --43.767502 -15.802500 149.625000 639885568.000000 --5.547500 15.487500 98.419998 639985536.000000 --64.750000 -33.897499 191.240005 640085568.000000 --17.430000 -15.662500 158.917496 640185536.000000 --3.395000 14.787500 9.817500 640285504.000000 --5.302500 0.227500 2.257500 640385536.000000 --5.320000 0.262500 2.257500 640485760.000000 --5.320000 0.262500 2.257500 640585664.000000 --5.197500 -0.122500 2.502500 640685504.000000 --12.985000 -21.542500 130.970001 640785472.000000 --17.045000 -16.327499 170.205002 640885504.000000 --10.815000 -21.717501 100.817497 640985536.000000 --5.792500 -36.347500 121.537498 641085504.000000 --1.592500 -7.927500 123.882500 641185536.000000 -2.660000 -20.912500 156.764999 641285504.000000 -9.450000 -42.402500 41.545002 641385536.000000 --3.990000 3.832500 19.652500 641485504.000000 --5.355000 0.507500 2.310000 641585664.000000 --5.355000 0.297500 2.292500 641685632.000000 --5.355000 0.297500 2.310000 641785536.000000 --5.337500 0.297500 2.292500 641885632.000000 --5.337500 0.332500 2.275000 641985472.000000 --5.355000 0.297500 2.275000 642085632.000000 --5.355000 0.332500 2.292500 642185472.000000 --5.355000 0.332500 2.275000 642285440.000000 --5.092500 0.507500 2.117500 642385408.000000 --5.512500 0.157500 2.345000 642485440.000000 --5.390000 0.297500 2.275000 642585408.000000 --5.372500 0.297500 2.275000 642685376.000000 --5.355000 0.332500 2.257500 642785344.000000 --5.355000 0.367500 2.257500 642885376.000000 --5.355000 0.297500 2.257500 642985408.000000 --5.372500 0.262500 2.275000 643085440.000000 --5.372500 0.332500 2.222500 643185600.000000 --5.302500 0.297500 2.257500 643285568.000000 --3.605000 -0.402500 19.792500 643385600.000000 -4.480000 -3.552500 97.824997 643485568.000000 -14.122500 -13.807500 167.982498 643585728.000000 -21.332500 13.982500 291.672516 643685632.000000 --4.042500 17.622499 224.612503 643786176.000000 -6.405000 -31.867500 87.902504 643885824.000000 --5.512500 -11.812500 2.397500 643985536.000000 --5.110000 -2.152500 1.837500 644085568.000000 --5.355000 0.297500 2.222500 644185664.000000 -2.170000 -19.267500 9.047500 644285504.000000 -1.505000 6.632500 57.557499 644385792.000000 -3.745000 8.347500 111.772499 644485504.000000 -6.737500 9.432500 146.667496 644585664.000000 --10.955000 66.377502 190.925003 644686464.000000 --6.282500 -9.047500 149.467499 644785536.000000 --11.130000 -2.502500 148.085007 644885632.000000 -5.565000 33.687500 114.309998 644985600.000000 -23.799999 41.982502 159.057495 645085568.000000 -55.107502 39.637501 186.812500 645185664.000000 --48.125000 65.082497 170.397507 645285568.000000 --2.572500 59.412498 228.305008 645385472.000000 --62.055000 7.752500 212.029999 645485632.000000 --108.762497 -12.757500 218.277496 645585536.000000 --165.672501 -23.502501 157.482498 645685632.000000 -54.407501 51.852501 64.732498 645785472.000000 --9.625000 -4.777500 2.152500 645885504.000000 -2.292500 7.752500 2.695000 645985664.000000 --5.372500 0.227500 2.275000 646085632.000000 --5.390000 0.262500 2.292500 646185536.000000 --5.390000 0.262500 2.292500 646285504.000000 --9.082500 0.157500 31.132500 646386752.000000 --22.295000 1.347500 152.547501 646486656.000000 --31.447500 -1.592500 197.872498 646586624.000000 --58.397499 -71.452499 162.732498 646686656.000000 --15.487500 -56.157501 134.750000 646786496.000000 -7.542500 -21.962500 153.615005 646886336.000000 -2.572500 -18.707500 80.832497 646987328.000000 -4.130000 -5.617500 32.672501 647086528.000000 --13.177500 4.742500 1.260000 647187776.000000 --15.557500 1.662500 -7.000000 647286400.000000 -29.382500 11.462500 18.480000 647386432.000000 --2.975000 -11.567500 -0.840000 647486656.000000 --5.285000 0.507500 2.397500 647586560.000000 --5.320000 0.297500 2.257500 647686656.000000 --5.320000 0.297500 2.257500 647787584.000000 --5.320000 0.297500 2.257500 647886400.000000 --5.337500 0.297500 2.257500 647986432.000000 --5.337500 0.297500 2.275000 648086784.000000 --5.285000 0.332500 2.187500 648186112.000000 --5.355000 0.367500 2.292500 648286016.000000 --5.337500 0.297500 2.257500 648386368.000000 --5.337500 0.297500 2.240000 648486336.000000 --5.372500 0.297500 2.275000 648587392.000000 --5.250000 -0.157500 2.275000 648685888.000000 --5.355000 0.332500 2.240000 648786176.000000 --5.337500 0.297500 2.275000 648886016.000000 --5.355000 0.297500 2.275000 648985984.000000 --5.355000 0.297500 2.205000 649086208.000000 --5.337500 0.262500 2.240000 649186560.000000 --5.267500 1.032500 4.025000 649286720.000000 --2.607500 -1.137500 31.500000 649385856.000000 --5.547500 -3.097500 84.367500 649485760.000000 --12.075000 -39.952499 178.395004 649585984.000000 --39.602501 -66.517502 186.952499 649686144.000000 --38.622501 -52.832500 186.287506 649785728.000000 -6.440000 -27.597500 187.809998 649885760.000000 -56.314999 -3.167500 160.212494 649986304.000000 -89.144997 -14.717500 122.692497 650086208.000000 -112.297501 29.312500 124.425003 650186176.000000 --3.850000 35.717499 118.807503 650286912.000000 --6.002500 1.732500 23.642500 650386048.000000 --5.267500 -2.607500 2.275000 650486016.000000 --5.320000 3.412500 2.187500 650586240.000000 --5.530000 7.997500 2.117500 650686272.000000 --5.320000 6.877500 2.082500 650786304.000000 --8.137500 24.412500 52.185001 650886528.000000 --23.712500 7.192500 253.767502 650985920.000000 --18.742500 -2.397500 240.887497 651086592.000000 --28.875000 3.062500 389.532501 651185792.000000 --25.549999 -16.117500 432.827515 651286592.000000 --6.632500 -9.642500 88.567497 651387264.000000 --5.180000 10.727500 1.872500 651488384.000000 --5.355000 0.227500 2.275000 651588736.000000 --5.372500 0.297500 2.257500 651686464.000000 --8.802500 30.887501 40.162498 651785792.000000 --7.000000 -17.657499 41.037498 651886144.000000 --6.615000 -12.582500 55.299999 651986240.000000 --7.910000 -5.792500 166.477493 652086144.000000 --4.917500 8.522500 126.385002 652186048.000000 --2.817500 4.147500 193.637497 652286144.000000 --0.647500 -2.117500 161.524994 652385984.000000 --45.045002 -100.502502 218.960007 652486144.000000 -20.107500 -26.582500 134.365005 652586432.000000 --21.174999 3.412500 91.735001 652686208.000000 --53.042500 4.147500 87.482498 652786304.000000 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-41.750000 -13.312500 669389568.000000 diff --git a/src/sensor_fusion/design/readme b/src/sensor_fusion/design/readme index 2de08d8..40c72e5 100644 --- a/src/sensor_fusion/design/readme +++ b/src/sensor_fusion/design/readme @@ -8,14 +8,11 @@ Important Information for developers who would like to contribute:- Please update any design changes in the documents along with the code changes. (The .pptx documents could be opened and edited using LibreOffice Impress) -3. The folder 'results' contains the output plots for the results for various - virtual sensors simulated using Octave. - -4. The folder 'lib' contains all the library files that that will be called by +3. The folder 'lib' contains all the library files that that will be called by the sf_xxx functions. -5. The folder 'data' contains sample data taken from various sensors used on a +4. The folder 'data' contains sample data taken from various sensors used on a mobile phone target. -6. Each sf_xxx file will individually simulate a virtual sensor that is developed +5. 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zIA)_~8HK?TIlC!V850M}c4*J}us)3r)=?C5)N?{zuP7B7Ue20}1s21sZ`dfh&+Yq1 zUbeZIM9Jj9KC(ka-SQo@ zHwi%z=4BS{OvBw~$MVBaOBjG@Rp_AS@Exm~O+kp7n~bQ)PI&ps^v0D89ndI31@7+b zv`VNxtp!``5zIjgPe+=@==jfFDp%MIs Date: Fri, 24 Jul 2015 17:17:41 +0900 Subject: [PATCH 02/16] Adding missing UV sensor API header file Missed to add the new API while while committing UV sensor code Change-Id: Ifd0e7afd644dc18d9d6fc3730ce89c7bc568790d --- src/libsensord/sensor_ultraviolet.h | 52 +++++++++++++++++++++++++++++++++++++ 1 file changed, 52 insertions(+) create mode 100644 src/libsensord/sensor_ultraviolet.h diff --git a/src/libsensord/sensor_ultraviolet.h b/src/libsensord/sensor_ultraviolet.h new file mode 100644 index 0000000..0116221 --- /dev/null +++ b/src/libsensord/sensor_ultraviolet.h @@ -0,0 +1,52 @@ +/* + * libsensord + * + * Copyright (c) 2015 Samsung Electronics Co., Ltd. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#ifndef __SENSOR_ULTRAVIOLET_H__ +#define __SENSOR_ULTRAVIOLET_H__ + +//! Pre-defined events for the ultraviolet sensor +//! Sensor Plugin developer can add more event to their own headers + +#ifdef __cplusplus +extern "C" +{ +#endif + +/** + * @defgroup SENSOR_ULTRAVIOLET Ultra Violet Sensor + * @ingroup SENSOR_FRAMEWORK + * + * These APIs are used to control the ultraviolet sensor. + * @{ + */ + +enum ultraviolet_event_type { + ULTRAVIOLET_RAW_DATA_EVENT = (ULTRAVIOLET_SENSOR << 16) | 0x0001, +}; + +/** + * @} + */ + +#ifdef __cplusplus +} +#endif + +#endif +//! End of a file -- 2.7.4 From 0e6a1835e60b8d7674bbe49b598abdedebb7a4fe Mon Sep 17 00:00:00 2001 From: Ramasamy Date: Fri, 31 Jul 2015 15:08:09 +0900 Subject: [PATCH 03/16] Fixing issue in the UV sensor HAL read data code Changed based on inputs received from driver team Change-Id: Id595120289090ef600321d4e96d24dec83c9f34b --- src/ultraviolet/ultraviolet_sensor.cpp | 6 +----- src/ultraviolet/ultraviolet_sensor.h | 1 - src/ultraviolet/ultraviolet_sensor_hal.cpp | 11 ++++++++--- 3 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/ultraviolet/ultraviolet_sensor.cpp b/src/ultraviolet/ultraviolet_sensor.cpp index c673c02..e393c22 100755 --- a/src/ultraviolet/ultraviolet_sensor.cpp +++ b/src/ultraviolet/ultraviolet_sensor.cpp @@ -31,7 +31,6 @@ using std::mem_fun; ultraviolet_sensor::ultraviolet_sensor() : m_sensor_hal(NULL) -, m_resolution(0.0f) { m_name = string(SENSOR_NAME); @@ -61,8 +60,6 @@ bool ultraviolet_sensor::init() return false; } - m_resolution = properties.resolution; - INFO("%s is created!", sensor_base::get_name()); return true; @@ -154,8 +151,7 @@ bool ultraviolet_sensor::set_interval(unsigned long interval) void ultraviolet_sensor::raw_to_base(sensor_data_t &data) { - data.values[0] = data.values[0] * m_resolution; - data.value_count = 1; + } extern "C" sensor_module* create(void) diff --git a/src/ultraviolet/ultraviolet_sensor.h b/src/ultraviolet/ultraviolet_sensor.h index 95f404b..62f7835 100755 --- a/src/ultraviolet/ultraviolet_sensor.h +++ b/src/ultraviolet/ultraviolet_sensor.h @@ -39,7 +39,6 @@ public: virtual int get_sensor_data(unsigned int type, sensor_data_t &data); private: sensor_hal *m_sensor_hal; - float m_resolution; virtual bool on_start(void); virtual bool on_stop(void); diff --git a/src/ultraviolet/ultraviolet_sensor_hal.cpp b/src/ultraviolet/ultraviolet_sensor_hal.cpp index 9c63734..634fd9f 100755 --- a/src/ultraviolet/ultraviolet_sensor_hal.cpp +++ b/src/ultraviolet/ultraviolet_sensor_hal.cpp @@ -193,6 +193,7 @@ bool ultraviolet_sensor_hal::set_interval(unsigned long val) bool ultraviolet_sensor_hal::update_value(bool wait) { int ultraviolet_raw = -1; + bool ultraviolet_sign = false; bool ultraviolet = false; int read_input_cnt = 0; const int INPUT_MAX_BEFORE_SYN = 10; @@ -212,8 +213,10 @@ bool ultraviolet_sensor_hal::update_value(bool wait) ++read_input_cnt; if (ultraviolet_event.type == EV_REL && ultraviolet_event.code == REL_X) { - ultraviolet_raw = (int)ultraviolet_event.value - BIAS; + ultraviolet_raw = (int)ultraviolet_event.value; ultraviolet = true; + } else if (ultraviolet_event.type == EV_REL && ultraviolet_event.code == REL_Y) { + ultraviolet_sign = ((int)ultraviolet_event.value < 0) ? false : true; } else if (ultraviolet_event.type == EV_SYN) { syn = true; fired_time = sensor_hal::get_timestamp(&ultraviolet_event.time); @@ -225,8 +228,10 @@ bool ultraviolet_sensor_hal::update_value(bool wait) AUTOLOCK(m_value_mutex); - if (ultraviolet) - m_ultraviolet = ultraviolet_raw; + if (ultraviolet && ultraviolet_sign) + m_ultraviolet = ultraviolet_raw - BIAS; + else + return false; m_fired_time = fired_time; -- 2.7.4 From 477adca26b18234a655928a47083d57ab67e3d87 Mon Sep 17 00:00:00 2001 From: Ankur Date: Fri, 7 Aug 2015 17:49:15 +0530 Subject: [PATCH 04/16] Bug Fixing in test suite related to pointer reference signed-off-by:"Ankur Garg " Change-Id: I7809eca0082fa17e19933eb15194ed696dda8db0 --- test/src/check-sensor.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/src/check-sensor.c b/test/src/check-sensor.c index a565602..75855c4 100644 --- a/test/src/check-sensor.c +++ b/test/src/check-sensor.c @@ -219,7 +219,7 @@ void callback(sensor_t sensor, unsigned int event_type, sensor_data_t *data, voi printf("Gaming RV [%lld] [%6.6f] [%6.6f] [%6.6f] [%6.6f]\n", data->timestamp, data->values[0], data->values[1], data->values[2], data->values[3]); break; case UNCAL_GYROSCOPE_SENSOR: - printf("Uncal gyro [%lld] [%6.6f] [%6.6f] [%6.6f] [%6.6f] [%6.6f] [%6.6f]\n\n", data.timestamp, data.values[0], data.values[1], data.values[2], data.values[3], data.values[4], data.values[5]); + printf("Uncal gyro [%lld] [%6.6f] [%6.6f] [%6.6f] [%6.6f] [%6.6f] [%6.6f]\n\n", data->timestamp, data->values[0], data->values[1], data->values[2], data->values[3], data->values[4], data->values[5]); break; default: -- 2.7.4 From b2b44e84b28ec71baec8eb064ee93feb5700f319 Mon Sep 17 00:00:00 2001 From: Ramasamy Date: Fri, 31 Jul 2015 17:28:15 +0900 Subject: [PATCH 05/16] Adding HRM LED RED sensor plugin for Note 4 - Adding HRM LED RED sensor plugin. - Adding build files for new plugin. - Adding API for new sensor. - Adding configuration for new sensor. Change-Id: I81231b8fdc831660f28c91ee1ba0850a19955c15 --- packaging/sensord.spec | 3 +- sensor_plugins.xml.in | 2 + sensors.xml.in | 7 + src/CMakeLists.txt | 3 + src/bio_led_red/CMakeLists.txt | 30 ++++ src/bio_led_red/bio_led_red_sensor.cpp | 160 +++++++++++++++++ src/bio_led_red/bio_led_red_sensor.h | 50 ++++++ src/bio_led_red/bio_led_red_sensor_hal.cpp | 264 ++++++++++++++++++++++++++++ src/bio_led_red/bio_led_red_sensor_hal.h | 65 +++++++ src/libsensord/CMakeLists.txt | 1 + src/libsensord/client_common.cpp | 2 + src/libsensord/sensor_bio_led_red.h | 52 ++++++ src/libsensord/sensor_internal.h | 1 + src/libsensord/sensor_internal_deprecated.h | 1 + 14 files changed, 640 insertions(+), 1 deletion(-) create mode 100644 src/bio_led_red/CMakeLists.txt create mode 100755 src/bio_led_red/bio_led_red_sensor.cpp create mode 100755 src/bio_led_red/bio_led_red_sensor.h create mode 100755 src/bio_led_red/bio_led_red_sensor_hal.cpp create mode 100755 src/bio_led_red/bio_led_red_sensor_hal.h create mode 100644 src/libsensord/sensor_bio_led_red.h diff --git a/packaging/sensord.spec b/packaging/sensord.spec index aa45fd0..040aeb0 100755 --- a/packaging/sensord.spec +++ b/packaging/sensord.spec @@ -34,6 +34,7 @@ BuildRequires: pkgconfig(capi-system-info) %define gaming_rv_state ON %define tilt_state ON %define uncal_gyro_state ON +%define bio_led_red_state ON %define build_test_suite OFF %description @@ -87,7 +88,7 @@ cmake . -DCMAKE_INSTALL_PREFIX=%{_prefix} -DACCEL=%{accel_state} \ -DGEOMAGNETIC_RV=%{geomagnetic_rv_state} -DGAMING_RV=%{gaming_rv_state} \ -DUNCAL_GYRO=%{uncal_gyro_state} -DAUTO_ROTATION=%{auto_rotation_state} \ -DTILT=%{tilt_state} -DULTRAVIOLET=%{ultraviolet_state} \ - -DTEST_SUITE=%{build_test_suite} \ + -DBIO_LED_RED=%{bio_led_red_state} -DTEST_SUITE=%{build_test_suite} \ -DLIBDIR=%{_libdir} -DINCLUDEDIR=%{_includedir} %build diff --git a/sensor_plugins.xml.in b/sensor_plugins.xml.in index ba602e6..88eb161 100755 --- a/sensor_plugins.xml.in +++ b/sensor_plugins.xml.in @@ -8,6 +8,7 @@ + @@ -29,5 +30,6 @@ + diff --git a/sensors.xml.in b/sensors.xml.in index 58f7fb4..34894f3 100755 --- a/sensors.xml.in +++ b/sensors.xml.in @@ -374,4 +374,11 @@ + + + + + + + diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 39dc767..91a8b40 100755 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -34,6 +34,9 @@ ENDIF() IF("${ULTRAVIOLET}" STREQUAL "ON") add_subdirectory(ultraviolet) ENDIF() +IF("${BIO_LED_RED}" STREQUAL "ON") +add_subdirectory(bio_led_red) +ENDIF() IF("${ORIENTATION}" STREQUAL "ON") set(SENSOR_FUSION_ENABLE "1") set(ORIENTATION_ENABLE "1") diff --git a/src/bio_led_red/CMakeLists.txt b/src/bio_led_red/CMakeLists.txt new file mode 100644 index 0000000..04c58e8 --- /dev/null +++ b/src/bio_led_red/CMakeLists.txt @@ -0,0 +1,30 @@ +cmake_minimum_required(VERSION 2.6) +project(bio_led_red CXX) + +SET(SENSOR_NAME bio_led_red_sensor) +SET(SENSOR_HAL_NAME bio_led_red_sensor_hal) + +include_directories(${CMAKE_CURRENT_SOURCE_DIR}) +include_directories(${CMAKE_SOURCE_DIR}/src/libsensord) + +FOREACH(flag ${bio_led_red_pkgs_LDFLAGS}) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${flag}") +ENDFOREACH(flag) + +FOREACH(flag ${bio_led_red_pkgs_CFLAGS}) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${flag}") +ENDFOREACH(flag) + +add_library(${SENSOR_NAME} SHARED + bio_led_red_sensor.cpp + ) + +add_library(${SENSOR_HAL_NAME} SHARED + bio_led_red_sensor_hal.cpp + ) + +target_link_libraries(${SENSOR_NAME} ${bio_led_red_pkgs_LDFLAGS} "-lm") +target_link_libraries(${SENSOR_HAL_NAME} ${bio_led_red_pkgs_LDFLAGS}) + +install(TARGETS ${SENSOR_NAME} DESTINATION ${CMAKE_INSTALL_LIBDIR}/sensord) +install(TARGETS ${SENSOR_HAL_NAME} DESTINATION ${CMAKE_INSTALL_LIBDIR}/sensord) diff --git a/src/bio_led_red/bio_led_red_sensor.cpp b/src/bio_led_red/bio_led_red_sensor.cpp new file mode 100755 index 0000000..17d228f --- /dev/null +++ b/src/bio_led_red/bio_led_red_sensor.cpp @@ -0,0 +1,160 @@ +/* + * sensord + * + * Copyright (c) 2014 Samsung Electronics Co., Ltd. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#include +#include + +#include +#include +#include + +using std::bind1st; +using std::mem_fun; + +#define SENSOR_NAME "BIO_LED_RED_SENSOR" + +bio_led_red_sensor::bio_led_red_sensor() +: m_sensor_hal(NULL) +{ + m_name = string(SENSOR_NAME); + + register_supported_event(BIO_LED_RED_RAW_DATA_EVENT); + + physical_sensor::set_poller(bio_led_red_sensor::working, this); +} + +bio_led_red_sensor::~bio_led_red_sensor() +{ + INFO("bio_led_red_sensor is destroyed!"); +} + +bool bio_led_red_sensor::init() +{ + m_sensor_hal = sensor_plugin_loader::get_instance().get_sensor_hal(BIO_LED_RED_SENSOR); + + if (!m_sensor_hal) { + ERR("cannot load sensor_hal[%s]", sensor_base::get_name()); + return false; + } + + INFO("%s is created!", sensor_base::get_name()); + + return true; +} + +sensor_type_t bio_led_red_sensor::get_type(void) +{ + return BIO_LED_RED_SENSOR; +} + +bool bio_led_red_sensor::working(void *inst) +{ + bio_led_red_sensor *sensor = (bio_led_red_sensor*)inst; + return sensor->process_event(); +} + +bool bio_led_red_sensor::process_event(void) +{ + sensor_event_t event; + + if (!m_sensor_hal->is_data_ready(true)) + return true; + + m_sensor_hal->get_sensor_data(event.data); + + AUTOLOCK(m_client_info_mutex); + + if (get_client_cnt(BIO_LED_RED_RAW_DATA_EVENT)) { + event.sensor_id = get_id(); + event.event_type = BIO_LED_RED_RAW_DATA_EVENT; + raw_to_base(event.data); + push(event); + } + + return true; +} + +bool bio_led_red_sensor::on_start(void) +{ + if (!m_sensor_hal->enable()) { + ERR("m_sensor_hal start fail\n"); + return false; + } + + return start_poll(); +} + +bool bio_led_red_sensor::on_stop(void) +{ + if (!m_sensor_hal->disable()) { + ERR("m_sensor_hal stop fail\n"); + return false; + } + + return stop_poll(); +} + +bool bio_led_red_sensor::get_properties(sensor_properties_s &properties) +{ + return m_sensor_hal->get_properties(properties); +} + +int bio_led_red_sensor::get_sensor_data(unsigned int type, sensor_data_t &data) +{ + int ret; + + ret = m_sensor_hal->get_sensor_data(data); + + if (ret < 0) + return -1; + + return -1; +} + +bool bio_led_red_sensor::set_interval(unsigned long interval) +{ + AUTOLOCK(m_mutex); + + INFO("Polling interval is set to %dms", interval); + + return m_sensor_hal->set_interval(interval); +} + +void bio_led_red_sensor::raw_to_base(sensor_data_t &data) +{ + +} + +extern "C" sensor_module* create(void) +{ + bio_led_red_sensor *sensor; + + try { + sensor = new(std::nothrow) bio_led_red_sensor; + } catch (int err) { + ERR("Failed to create module, err: %d, cause: %s", err, strerror(err)); + return NULL; + } + + sensor_module *module = new(std::nothrow) sensor_module; + retvm_if(!module || !sensor, NULL, "Failed to allocate memory"); + + module->sensors.push_back(sensor); + return module; +} diff --git a/src/bio_led_red/bio_led_red_sensor.h b/src/bio_led_red/bio_led_red_sensor.h new file mode 100755 index 0000000..f14b4af --- /dev/null +++ b/src/bio_led_red/bio_led_red_sensor.h @@ -0,0 +1,50 @@ +/* + * sensord + * + * Copyright (c) 2014 Samsung Electronics Co., Ltd. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#ifndef _HRM_RED_SENSOR_H_ +#define _HRM_RED_SENSOR_H_ + +#include + +#include +#include + +class bio_led_red_sensor : public physical_sensor { +public: + bio_led_red_sensor(); + virtual ~bio_led_red_sensor(); + + bool init(); + virtual sensor_type_t get_type(void); + + static bool working(void *inst); + virtual bool set_interval(unsigned long interval); + virtual bool get_properties(sensor_properties_s &properties); + virtual int get_sensor_data(unsigned int type, sensor_data_t &data); +private: + sensor_hal *m_sensor_hal; + + virtual bool on_start(void); + virtual bool on_stop(void); + bool process_event(void); + void raw_to_base(sensor_data_t &data); +}; + +#endif + diff --git a/src/bio_led_red/bio_led_red_sensor_hal.cpp b/src/bio_led_red/bio_led_red_sensor_hal.cpp new file mode 100755 index 0000000..38ee2bb --- /dev/null +++ b/src/bio_led_red/bio_led_red_sensor_hal.cpp @@ -0,0 +1,264 @@ +/* + * bio_led_red_sensor_hal + * + * Copyright (c) 2014 Samsung Electronics Co., Ltd. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ +#include +#include +#include +#include +#include +#include +#include +#include + +using std::ifstream; + +#define SENSOR_TYPE_BIO_LED_RED "BIO_LED_RED" +#define ELEMENT_NAME "NAME" +#define ELEMENT_VENDOR "VENDOR" +#define ATTR_VALUE "value" +#define PATH_LED_RED_ENABLE "/sys/class/sensors/hrm_sensor/led_current1"; +#define LED_RED_ENABLE_VALUE 255 + +#define BIAS 1 + +bio_led_red_sensor_hal::bio_led_red_sensor_hal() +: m_polling_interval(POLL_1HZ_MS) +, m_bio_led_red(0) +, m_fired_time(0) +, m_node_handle(-1) +{ + const string sensorhub_interval_node_name = "hrm_poll_delay"; + csensor_config &config = csensor_config::get_instance(); + + node_info_query query; + node_info info; + + if (!find_model_id(SENSOR_TYPE_BIO_LED_RED, m_model_id)) { + ERR("Failed to find model id"); + throw ENXIO; + + } + + query.sensorhub_controlled = m_sensorhub_controlled = is_sensorhub_controlled(sensorhub_interval_node_name); + query.sensor_type = SENSOR_TYPE_BIO_LED_RED; + query.key = "hrm_sensor"; + query.iio_enable_node_name = "hrm_raw_enable"; + query.sensorhub_interval_node_name = sensorhub_interval_node_name; + + if (!get_node_info(query, info)) { + ERR("Failed to get node info"); + throw ENXIO; + } + + show_node_info(info); + + m_data_node = info.data_node_path; + m_enable_node = info.enable_node_path; + m_interval_node = info.interval_node_path; + + if (!config.get(SENSOR_TYPE_BIO_LED_RED, m_model_id, ELEMENT_VENDOR, m_vendor)) { + ERR("[VENDOR] is empty\n"); + throw ENXIO; + } + + INFO("m_vendor = %s", m_vendor.c_str()); + + if (!config.get(SENSOR_TYPE_BIO_LED_RED, m_model_id, ELEMENT_NAME, m_chip_name)) { + ERR("[NAME] is empty\n"); + throw ENXIO; + } + + INFO("m_chip_name = %s\n",m_chip_name.c_str()); + + if ((m_node_handle = open(m_data_node.c_str(),O_RDWR)) < 0) { + ERR("Failed to open handle(%d)", m_node_handle); + throw ENXIO; + } + + int clockId = CLOCK_MONOTONIC; + if (ioctl(m_node_handle, EVIOCSCLOCKID, &clockId) != 0) + ERR("Fail to set monotonic timestamp for %s", m_data_node.c_str()); + + INFO("bio_led_red_sensor_hal is created!\n"); + +} + +bio_led_red_sensor_hal::~bio_led_red_sensor_hal() +{ + close(m_node_handle); + m_node_handle = -1; + + INFO("bio_led_red_sensor_hal is destroyed!\n"); +} + +string bio_led_red_sensor_hal::get_model_id(void) +{ + return m_model_id; +} + + +sensor_type_t bio_led_red_sensor_hal::get_type(void) +{ + return BIO_LED_RED_SENSOR; +} + +bool bio_led_red_sensor_hal::enable(void) +{ + AUTOLOCK(m_mutex); + const string led_red_enable_path = PATH_LED_RED_ENABLE; + + set_enable_node(m_enable_node, m_sensorhub_controlled, true, SENSORHUB_BIO_HRM_RAW_ENABLE_BIT); + + if (!set_node_value(led_red_enable_path, LED_RED_ENABLE_VALUE)) { + ERR("Failed to set led red enable node: %s", led_red_enable_path.c_str()); + return false; + } + + set_interval(m_polling_interval); + + m_fired_time = 0; + INFO("bio_led_red sensor starting"); + return true; +} + +bool bio_led_red_sensor_hal::disable(void) +{ + AUTOLOCK(m_mutex); + + set_enable_node(m_enable_node, m_sensorhub_controlled, false, SENSORHUB_BIO_HRM_RAW_ENABLE_BIT); + + INFO("bio_led_red sensor real stopping"); + return true; +} + +bool bio_led_red_sensor_hal::set_interval(unsigned long val) +{ + unsigned long long polling_interval_ns; + + AUTOLOCK(m_mutex); + + polling_interval_ns = ((unsigned long long)(val) * 1000llu * 1000llu); + + if (!set_node_value(m_interval_node, polling_interval_ns)) { + ERR("Failed to set polling resource: %s\n", m_interval_node.c_str()); + return false; + } + + INFO("Interval is changed from %dms to %dms]", m_polling_interval, val); + m_polling_interval = val; + return true; + +} + + +bool bio_led_red_sensor_hal::update_value(bool wait) +{ + int bio_led_red_raw = -1; + bool bio_led_red = false; + int read_input_cnt = 0; + const int INPUT_MAX_BEFORE_SYN = 10; + unsigned long long fired_time = 0; + bool syn = false; + + struct input_event bio_led_red_event; + DBG("bio_led_red event detection!"); + + while ((syn == false) && (read_input_cnt < INPUT_MAX_BEFORE_SYN)) { + int len = read(m_node_handle, &bio_led_red_event, sizeof(bio_led_red_event)); + if (len != sizeof(bio_led_red_event)) { + ERR("bio_led_red file read fail, read_len = %d\n",len); + return false; + } + + ++read_input_cnt; + + if (bio_led_red_event.type == EV_REL && bio_led_red_event.code == REL_X) { + bio_led_red_raw = (int)bio_led_red_event.value; + bio_led_red = true; + } else if (bio_led_red_event.type == EV_REL) { + ERR("bio_led_red event[type = %d, code = %d] is skipped.", bio_led_red_event.type, bio_led_red_event.code); + } else if (bio_led_red_event.type == EV_SYN) { + syn = true; + fired_time = sensor_hal::get_timestamp(&bio_led_red_event.time); + } else { + ERR("bio_led_red event[type = %d, code = %d] is unknown.", bio_led_red_event.type, bio_led_red_event.code); + return false; + } + } + + AUTOLOCK(m_value_mutex); + + if (bio_led_red) + m_bio_led_red = bio_led_red_raw - BIAS; + + m_fired_time = fired_time; + + DBG("m_bio_led_red = %d, time = %lluus", m_bio_led_red, m_fired_time); + + return true; +} + +bool bio_led_red_sensor_hal::is_data_ready(bool wait) +{ + bool ret; + ret = update_value(wait); + return ret; +} + +int bio_led_red_sensor_hal::get_sensor_data(sensor_data_t &data) +{ + AUTOLOCK(m_value_mutex); + data.accuracy = SENSOR_ACCURACY_GOOD; + data.timestamp = m_fired_time; + data.value_count = 1; + data.values[0] = (float) m_bio_led_red; + + return 0; +} + +bool bio_led_red_sensor_hal::get_properties(sensor_properties_s &properties) +{ + properties.name = m_chip_name; + properties.vendor = m_vendor; + properties.min_range = 0.0f; + properties.max_range = 1.0f; + properties.min_interval = 1; + properties.resolution = 1.0f; + properties.fifo_count = 0; + properties.max_batch_count = 0; + + return true; +} + +extern "C" sensor_module* create(void) +{ + bio_led_red_sensor_hal *sensor; + + try { + sensor = new(std::nothrow) bio_led_red_sensor_hal; + } catch (int err) { + ERR("Failed to create module, err: %d, cause: %s", err, strerror(err)); + return NULL; + } + + sensor_module *module = new(std::nothrow) sensor_module; + retvm_if(!module || !sensor, NULL, "Failed to allocate memory"); + + module->sensors.push_back(sensor); + return module; +} diff --git a/src/bio_led_red/bio_led_red_sensor_hal.h b/src/bio_led_red/bio_led_red_sensor_hal.h new file mode 100755 index 0000000..d94c470 --- /dev/null +++ b/src/bio_led_red/bio_led_red_sensor_hal.h @@ -0,0 +1,65 @@ +/* + * hrm_red_sensor_hal + * + * Copyright (c) 2014 Samsung Electronics Co., Ltd. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#ifndef _BIO_LED_RED_SENSOR_HAL_H_ +#define _BIO_LED_RED_SENSOR_HAL_H_ + +#include +#include + +using std::string; + +class bio_led_red_sensor_hal : public sensor_hal +{ +public: + bio_led_red_sensor_hal(); + virtual ~bio_led_red_sensor_hal(); + string get_model_id(void); + sensor_type_t get_type(void); + bool enable(void); + bool disable(void); + bool set_interval(unsigned long val); + bool is_data_ready(bool wait); + virtual int get_sensor_data(sensor_data_t &data); + bool get_properties(sensor_properties_s &properties); + +private: + string m_model_id; + string m_vendor; + string m_chip_name; + + unsigned long m_polling_interval; + + int m_bio_led_red; + + unsigned long long m_fired_time; + int m_node_handle; + + string m_enable_node; + string m_data_node; + string m_interval_node; + + bool m_sensorhub_controlled; + + cmutex m_value_mutex; + + bool update_value(bool wait); +}; +#endif /*_BIO_LED_RED_SENSOR_HAL_CLASS_H_*/ + diff --git a/src/libsensord/CMakeLists.txt b/src/libsensord/CMakeLists.txt index db78c9a..00e3a1b 100755 --- a/src/libsensord/CMakeLists.txt +++ b/src/libsensord/CMakeLists.txt @@ -62,6 +62,7 @@ install(FILES sensor_temperature.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/senso install(FILES sensor_motion.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/sensor/) install(FILES sensor_fusion.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/sensor/) install(FILES sensor_ultraviolet.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/sensor/) +install(FILES sensor_bio_led_red.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/sensor/) install(FILES sensor_deprecated.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/sensor/) install(FILES sensor_uncal_gyro.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/sensor/) install(FILES ${PROJECT_NAME}.pc DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig) diff --git a/src/libsensord/client_common.cpp b/src/libsensord/client_common.cpp index 5783414..40f99b1 100755 --- a/src/libsensord/client_common.cpp +++ b/src/libsensord/client_common.cpp @@ -47,6 +47,7 @@ log_element g_log_elements[] = { FILL_LOG_ELEMENT(LOG_ID_SENSOR_TYPE, TILT_SENSOR, 0, 1), FILL_LOG_ELEMENT(LOG_ID_SENSOR_TYPE, UNCAL_GYROSCOPE_SENSOR, 0, 1), FILL_LOG_ELEMENT(LOG_ID_SENSOR_TYPE, ULTRAVIOLET_SENSOR, 0, 1), + FILL_LOG_ELEMENT(LOG_ID_SENSOR_TYPE, BIO_LED_RED_SENSOR, 0, 1), FILL_LOG_ELEMENT(LOG_ID_EVENT, GEOMAGNETIC_CALIBRATION_NEEDED_EVENT, 0, 1), FILL_LOG_ELEMENT(LOG_ID_EVENT, PROXIMITY_CHANGE_STATE_EVENT, 0,1), @@ -73,6 +74,7 @@ log_element g_log_elements[] = { FILL_LOG_ELEMENT(LOG_ID_EVENT, TILT_RAW_DATA_EVENT, 0, 10), FILL_LOG_ELEMENT(LOG_ID_EVENT, UNCAL_GYRO_RAW_DATA_EVENT, 0, 10), FILL_LOG_ELEMENT(LOG_ID_EVENT, ULTRAVIOLET_RAW_DATA_EVENT, 0, 10), + FILL_LOG_ELEMENT(LOG_ID_EVENT, BIO_LED_RED_RAW_DATA_EVENT, 0, 10), }; typedef unordered_map log_map; diff --git a/src/libsensord/sensor_bio_led_red.h b/src/libsensord/sensor_bio_led_red.h new file mode 100644 index 0000000..4720f2c --- /dev/null +++ b/src/libsensord/sensor_bio_led_red.h @@ -0,0 +1,52 @@ +/* + * libsensord + * + * Copyright (c) 2015 Samsung Electronics Co., Ltd. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#ifndef __SENSOR_BIO_LED_RED_H__ +#define __SENSOR_BIO_LED_RED_H__ + +//! Pre-defined events for the bio led red sensor +//! Sensor Plugin developer can add more event to their own headers + +#ifdef __cplusplus +extern "C" +{ +#endif + +/** + * @defgroup SENSOR_BIO_LED_RED HRM LED RED Sensor + * @ingroup SENSOR_FRAMEWORK + * + * These APIs are used to control the HRM LED RED sensor. + * @{ + */ + +enum bio_led_green_event_type { + BIO_LED_RED_RAW_DATA_EVENT = (BIO_LED_RED_SENSOR << 16) | 0x0001, +}; + +/** + * @} + */ + +#ifdef __cplusplus +} +#endif + +#endif +//! End of a file diff --git a/src/libsensord/sensor_internal.h b/src/libsensord/sensor_internal.h index 7711d01..49c74dc 100755 --- a/src/libsensord/sensor_internal.h +++ b/src/libsensord/sensor_internal.h @@ -58,6 +58,7 @@ extern "C" #include #include #include +#include typedef void (*sensor_cb_t)(sensor_t sensor, unsigned int event_type, sensor_data_t *data, void *user_data); typedef void (*sensorhub_cb_t)(sensor_t sensor, unsigned int event_type, sensorhub_data_t *data, void *user_data); diff --git a/src/libsensord/sensor_internal_deprecated.h b/src/libsensord/sensor_internal_deprecated.h index 35f60e7..b42c045 100755 --- a/src/libsensord/sensor_internal_deprecated.h +++ b/src/libsensord/sensor_internal_deprecated.h @@ -58,6 +58,7 @@ extern "C" #include #include #include +#include #define MAX_KEY_LEN 30 -- 2.7.4 From b5897a28d782361d965c8bbe5062425db74a6214 Mon Sep 17 00:00:00 2001 From: Adarsh Shree Ram Date: Thu, 13 Aug 2015 17:30:17 +0530 Subject: [PATCH 06/16] Code Cleanup for Tilt sensor files Change-Id: I0db7e52aa61812801342aa6d80a24fe2b78508f4 --- src/tilt/tilt_sensor.cpp | 24 +----------------------- src/tilt/tilt_sensor.h | 5 ----- 2 files changed, 1 insertion(+), 28 deletions(-) diff --git a/src/tilt/tilt_sensor.cpp b/src/tilt/tilt_sensor.cpp index db40acf..58cbb4e 100755 --- a/src/tilt/tilt_sensor.cpp +++ b/src/tilt/tilt_sensor.cpp @@ -48,12 +48,7 @@ #define ELEMENT_PITCH_ROTATION_COMPENSATION "PITCH_ROTATION_COMPENSATION" #define ELEMENT_ROLL_ROTATION_COMPENSATION "ROLL_ROTATION_COMPENSATION" -void pre_process_data(sensor_data &data_out, const float *data_in, float *bias, int *sign, float scale) -{ - data_out.m_data.m_vec[0] = sign[0] * (data_in[0] - bias[0]) / scale; - data_out.m_data.m_vec[1] = sign[1] * (data_in[1] - bias[1]) / scale; - data_out.m_data.m_vec[2] = sign[2] * (data_in[2] - bias[2]) / scale; -} + tilt_sensor::tilt_sensor() : m_accel_sensor(NULL) @@ -64,7 +59,6 @@ tilt_sensor::tilt_sensor() m_name = string(SENSOR_NAME); register_supported_event(TILT_RAW_DATA_EVENT); - m_enable_tilt = 0; if (!config.get(SENSOR_TYPE_TILT, ELEMENT_VENDOR, m_vendor)) { ERR("[VENDOR] is empty\n"); @@ -103,7 +97,6 @@ tilt_sensor::tilt_sensor() m_interval = m_default_sampling_time * MS_TO_US; - INFO("ramasamy 1: Constructor completed"); } tilt_sensor::~tilt_sensor() @@ -124,8 +117,6 @@ bool tilt_sensor::init(void) INFO("%s is created!\n", sensor_base::get_name()); - INFO("ramasamy 2: Init completed"); - return true; } @@ -148,8 +139,6 @@ bool tilt_sensor::on_start(void) m_fusion_sensor->add_interval((intptr_t)this, (m_interval/MS_TO_US), false); m_fusion_sensor->start(); - INFO("ramasamy 3: ON_START completed"); - activate(); return true; } @@ -168,8 +157,6 @@ bool tilt_sensor::on_stop(void) m_fusion_sensor->unregister_supported_event(FUSION_TILT_ENABLED); m_fusion_sensor->stop(); - INFO("ramasamy 4: ON_STOP completed"); - deactivate(); return true; } @@ -181,8 +168,6 @@ bool tilt_sensor::add_interval(int client_id, unsigned int interval) m_accel_sensor->add_interval(client_id, interval, false); m_fusion_sensor->add_interval(client_id, interval, false); - INFO("ramasamy 5: ADD_INTERVAL completed"); - return sensor_base::add_interval(client_id, interval, false); } @@ -193,8 +178,6 @@ bool tilt_sensor::delete_interval(int client_id) m_accel_sensor->delete_interval(client_id, false); m_fusion_sensor->delete_interval(client_id, false); - INFO("ramasamy 6: DELETE_INTERVAL completed"); - return sensor_base::delete_interval(client_id, false); } @@ -203,11 +186,8 @@ void tilt_sensor::synthesize(const sensor_event_t &event, vector sensor_event_t tilt_event; unsigned long long diff_time; - INFO("ramasamy 7: SYNTHESIZE STARTED"); - if (event.event_type == FUSION_EVENT) { - INFO("ramasamy 8: SYNTHESIZE FUSION EVENT RECEIVED"); diff_time = event.data.timestamp - m_time; if (m_time && (diff_time < m_interval * MIN_DELIVERY_DIFF_FACTOR)) @@ -234,8 +214,6 @@ void tilt_sensor::synthesize(const sensor_event_t &event, vector tilt_event.data.values[0] = euler.m_ang.m_vec[0]; tilt_event.data.values[1] = euler.m_ang.m_vec[1]; - INFO("ramasamy 8: SYNTHESIZE FUSION EVENT SENT"); - push(tilt_event); } diff --git a/src/tilt/tilt_sensor.h b/src/tilt/tilt_sensor.h index 758751f..8ac6c62 100755 --- a/src/tilt/tilt_sensor.h +++ b/src/tilt/tilt_sensor.h @@ -48,11 +48,6 @@ private: cmutex m_value_mutex; - orientation_filter m_orientation_filter; - orientation_filter m_orientation_filter_poll; - - unsigned int m_enable_tilt; - unsigned long long m_time; unsigned int m_interval; -- 2.7.4 From 15130dc56502d4d00d66174b22e3991e2893fee9 Mon Sep 17 00:00:00 2001 From: Adarsh Shree Ram Date: Mon, 17 Aug 2015 15:52:36 +0530 Subject: [PATCH 07/16] Removing intialization warning Change-Id: Ia988358f2aa383ce5202f1f40983f825485bdd9e --- src/uncal_gyro/uncal_gyro_sensor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/uncal_gyro/uncal_gyro_sensor.cpp b/src/uncal_gyro/uncal_gyro_sensor.cpp index f173f3f..8c1bb93 100644 --- a/src/uncal_gyro/uncal_gyro_sensor.cpp +++ b/src/uncal_gyro/uncal_gyro_sensor.cpp @@ -55,8 +55,8 @@ uncal_gyro_sensor::uncal_gyro_sensor() : m_accel_sensor(NULL) -, m_gyro_sensor(NULL) , m_magnetic_sensor(NULL) +, m_gyro_sensor(NULL) , m_fusion_sensor(NULL) , m_time(0) { -- 2.7.4 From 758dff3e34b293293d1b39555f5f4b7b0f458c8f Mon Sep 17 00:00:00 2001 From: Adarsh Shree Ram Date: Mon, 17 Aug 2015 17:34:57 +0530 Subject: [PATCH 08/16] Removing typecasting warning Change-Id: I5e8978411b1319a551cc6807177012ee8a4aeefe --- src/server/command_worker.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/server/command_worker.cpp b/src/server/command_worker.cpp index 7a8c59e..09e633f 100755 --- a/src/server/command_worker.cpp +++ b/src/server/command_worker.cpp @@ -716,7 +716,7 @@ out: bool command_worker::cmd_get_data(void *payload) { - const int GET_DATA_MIN_INTERVAL = 10; + const unsigned int GET_DATA_MIN_INTERVAL = 10; cmd_get_data_t *cmd; int state = OP_ERROR; bool adjusted = false; -- 2.7.4 From e9da9f5d132706754e15276b162a3c2ec573cf8d Mon Sep 17 00:00:00 2001 From: Adarsh Shree Ram Date: Mon, 17 Aug 2015 19:27:33 +0530 Subject: [PATCH 09/16] Removing unused members Change-Id: Ie54cec7be0b553233ff8e1f00b461488d44aa373 --- src/uncal_gyro/uncal_gyro_sensor.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/src/uncal_gyro/uncal_gyro_sensor.cpp b/src/uncal_gyro/uncal_gyro_sensor.cpp index 8c1bb93..d152be7 100644 --- a/src/uncal_gyro/uncal_gyro_sensor.cpp +++ b/src/uncal_gyro/uncal_gyro_sensor.cpp @@ -210,7 +210,6 @@ void uncal_gyro_sensor::synthesize(const sensor_event_t &event, vector Date: Fri, 31 Jul 2015 17:33:30 +0900 Subject: [PATCH 10/16] Updating test files to support HRM led red sensor Updated test files for HRM led red sensor. Change-Id: I8bb1300cd70b9805dcdaf7787c51dfce18fb4430 --- test/src/api-test.c | 3 +++ test/src/check-sensor.c | 10 ++++++++++ test/src/sensor-test.c | 5 +++++ 3 files changed, 18 insertions(+) diff --git a/test/src/api-test.c b/test/src/api-test.c index 29cde57..fb772c6 100644 --- a/test/src/api-test.c +++ b/test/src/api-test.c @@ -244,6 +244,9 @@ int main(int argc, char **argv) result = check_sensor_api(ULTRAVIOLET_RAW_DATA_EVENT, interval); fprintf(fp, "ULTRAVIOLET - RAW_DATA_REPORT_ON_TIME - %d\n", result); + result = check_sensor_api(BIO_LED_RED_RAW_DATA_EVENT, interval); + fprintf(fp, "BIO_LED_RED - RAW_DATA_REPORT_ON_TIME - %d\n", result); + printf("Logs printed in ./auto_test.output\n"); fclose(fp); return 0; diff --git a/test/src/check-sensor.c b/test/src/check-sensor.c index 75855c4..bcaf5be 100644 --- a/test/src/check-sensor.c +++ b/test/src/check-sensor.c @@ -60,6 +60,9 @@ void printpollinglogs(sensor_type_t type,sensor_data_t data) case(ULTRAVIOLET_SENSOR): printf("Ultraviolet [%lld] [%6.6f]\n", data.timestamp, data.values[0]); break; + case(BIO_LED_RED_SENSOR): + printf("Bio_LED_Red [%lld] [%6.6f]\n", data.timestamp, data.values[0]); + break; case(ORIENTATION_SENSOR): printf("Orientation [%lld] [%6.6f] [%6.6f] [%6.6f]\n\n", data.timestamp, data.values[0], data.values[1], data.values[2]); break; @@ -128,6 +131,10 @@ int get_event(sensor_type_t sensor_type, char str[]) if (strcmp(str, "RAW_DATA_EVENT") == 0) return ULTRAVIOLET_RAW_DATA_EVENT; break; + case BIO_LED_RED_SENSOR: + if (strcmp(str, "RAW_DATA_EVENT") == 0) + return BIO_LED_RED_RAW_DATA_EVENT; + break; case ORIENTATION_SENSOR: if (strcmp(str, "RAW_DATA_EVENT") == 0) return ORIENTATION_RAW_DATA_EVENT; @@ -197,6 +204,9 @@ void callback(sensor_t sensor, unsigned int event_type, sensor_data_t *data, voi case ULTRAVIOLET_SENSOR: printf("Ultraviolet [%lld] [%6.6f]\n", data->timestamp, data->values[0]); break; + case BIO_LED_RED_SENSOR: + printf("Bio_LED_Red [%lld] [%6.6f]\n", data->timestamp, data->values[0]); + break; case ORIENTATION_SENSOR : printf("Orientation [%lld] [%6.6f] [%6.6f] [%6.6f]\n", data->timestamp, data->values[0], data->values[1], data->values[2]); break; diff --git a/test/src/sensor-test.c b/test/src/sensor-test.c index 7cb7514..610bd0b 100644 --- a/test/src/sensor-test.c +++ b/test/src/sensor-test.c @@ -46,6 +46,7 @@ void usage() printf("[geomagnetic_rv] "); printf("[gaming_rv] "); printf("[ultraviolet] "); + printf("[bio_led_red] "); printf("[light]\n"); printf("[uncal_gyro]"); printf("event:"); @@ -143,6 +144,10 @@ int main(int argc, char **argv) sensor_type = UNCAL_GYROSCOPE_SENSOR; event = UNCAL_GYRO_RAW_DATA_EVENT; } + else if (strcmp(argv[1], "bio_led_red") == 0) { + sensor_type = BIO_LED_RED_SENSOR; + event = BIO_LED_RED_RAW_DATA_EVENT; + } else { usage(); } -- 2.7.4 From fe371b4781c76cfd1dd60cda14def2461901463b Mon Sep 17 00:00:00 2001 From: Ankur Date: Tue, 11 Aug 2015 11:43:18 +0530 Subject: [PATCH 11/16] Algorithm improvement for orientation based on accel+gyro - Updated algorithm to compensate drift based on mean square threshold values for accelerometer and gyroscope input. - Updated the C-library with improvement in algorithm. Change-Id: I91e99c8722fd568b7da58424b0397e9f07dd456a --- .../design/lib/estimate_orientation.m | 40 +++++++--------------- src/sensor_fusion/orientation_filter.cpp | 19 +++++++--- 2 files changed, 27 insertions(+), 32 deletions(-) diff --git a/src/sensor_fusion/design/lib/estimate_orientation.m b/src/sensor_fusion/design/lib/estimate_orientation.m index de28616..41531f0 100755 --- a/src/sensor_fusion/design/lib/estimate_orientation.m +++ b/src/sensor_fusion/design/lib/estimate_orientation.m @@ -41,8 +41,9 @@ function [quat_driv, quat_aid, quat_error, gyro_bias] = estimate_orientation(Ac GRAVITY = 9.80665; PI = 3.141593; + ACCEL_THRESHOLD = 0.2; + GYRO_THRESHOLD = 0.01; NON_ZERO_VAL = 0.1; - ROUNDOFF_VAL = 0.0025; PI_DEG = 180; MOVING_AVERAGE_WINDOW_LENGTH = 20; @@ -254,10 +255,11 @@ function [quat_driv, quat_aid, quat_error, gyro_bias] = estimate_orientation(Ac q = q / norm(q); else euler_aid = quat2euler(quat_aid(i,:)); - if (euler_aid(1)^2 < (ROUNDOFF_VAL * PI)) - if (euler_aid(2)^2 < (ROUNDOFF_VAL * PI)) - if (gyr_z(i)^2 < (NON_ZERO_VAL)) - q = quat_aid(i,:); + euler_driv = quat2euler(quat_driv(i,:)); + if (acc_y(i)^2 < (ACCEL_THRESHOLD) && Gx(i)^2 < (GYRO_THRESHOLD)) + if (acc_x(i)^2 < (ACCEL_THRESHOLD) && Gy(i)^2 < (GYRO_THRESHOLD)) + if (Gz(i)^2 < (GYRO_THRESHOLD)) + q = euler2quat([euler_aid(2) euler_aid(1) euler_driv(3)]); end end end @@ -341,11 +343,11 @@ function [quat_driv, quat_aid, quat_error, gyro_bias] = estimate_orientation(Ac if GYRO_DATA_DISABLED != 1 p2 = plot(1:BUFFER_SIZE,Gz(1,1:BUFFER_SIZE),'b'); if MAG_DATA_DISABLED != 1 - hold on; - grid on; - p3 = plot(1:BUFFER_SIZE,mag_z(1,1:BUFFER_SIZE),'k'); - title(['Accelerometer/Gyroscope/Magnetometer Z-Axis Plot']); - legend([p1 p2 p3],'Acc_Z', 'Gyr_Z', 'Mag_Z'); + hold on; + grid on; + p3 = plot(1:BUFFER_SIZE,mag_z(1,1:BUFFER_SIZE),'k'); + title(['Accelerometer/Gyroscope/Magnetometer Z-Axis Plot']); + legend([p1 p2 p3],'Acc_Z', 'Gyr_Z', 'Mag_Z'); else title(['Accelerometer/Gyroscope Z-Axis Plot']); legend([p1 p2],'Acc_Z', 'Gyr_Z'); @@ -366,23 +368,17 @@ function [quat_driv, quat_aid, quat_error, gyro_bias] = estimate_orientation(Ac p1 = plot(1:BUFFER_SIZE,Ax(1,1:BUFFER_SIZE),'r'); hold on; grid on; - p2 = plot(1:BUFFER_SIZE,Ax(1,1:BUFFER_SIZE),'b'); title(['Accelerometer X-Axis Plot']); - legend([p1 p2],'input signal','low-pass filtered signal'); subplot(3,1,2) p1 = plot(1:BUFFER_SIZE,Ay(1,1:BUFFER_SIZE),'r'); hold on; grid on; - p2 = plot(1:BUFFER_SIZE,Ay(1,1:BUFFER_SIZE),'b'); title(['Accelerometer Y-Axis Plot']); - legend([p1 p2],'input signal','low-pass filtered signal'); subplot(3,1,3) p1 = plot(1:BUFFER_SIZE,Az(1,1:BUFFER_SIZE),'r'); hold on; grid on; - p2 = plot(1:BUFFER_SIZE,Az(1,1:BUFFER_SIZE),'b'); title(['Accelerometer Z-Axis Plot']); - legend([p1 p2],'input signal','low-pass filtered signal'); if GYRO_DATA_DISABLED != 1 % Gyroscope Raw (vs) filtered output @@ -393,23 +389,17 @@ function [quat_driv, quat_aid, quat_error, gyro_bias] = estimate_orientation(Ac p1 = plot(1:BUFFER_SIZE,Gx(1,1:BUFFER_SIZE),'r'); hold on; grid on; - p2 = plot(1:BUFFER_SIZE,Gx(1,1:BUFFER_SIZE),'b'); title(['Gyroscope X-Axis Plot']); - legend([p1 p2],'input signal','low-pass filtered signal'); subplot(3,1,2) p1 = plot(1:BUFFER_SIZE,Gy(1,1:BUFFER_SIZE),'r'); hold on; grid on; - p2 = plot(1:BUFFER_SIZE,Gy(1,1:BUFFER_SIZE),'b'); title(['Gyroscope Y-Axis Plot']); - legend([p1 p2],'input signal','low-pass filtered signal'); subplot(3,1,3) p1 = plot(1:BUFFER_SIZE,Gz(1,1:BUFFER_SIZE),'r'); hold on; grid on; - p2 = plot(1:BUFFER_SIZE,Gz(1,1:BUFFER_SIZE),'b'); title(['Gyroscope Z-Axis Plot']); - legend([p1 p2],'input signal','low-pass filtered signal'); end if MAG_DATA_DISABLED != 1 @@ -421,23 +411,17 @@ function [quat_driv, quat_aid, quat_error, gyro_bias] = estimate_orientation(Ac p1 = plot(1:BUFFER_SIZE,Mx(1,1:BUFFER_SIZE),'r'); hold on; grid on; - p2 = plot(1:BUFFER_SIZE,Mx(1,1:BUFFER_SIZE),'b'); title(['Magnetometer X-Axis Plot']); - legend([p1 p2],'input signal','low-pass filtered signal'); subplot(3,1,2) p1 = plot(1:BUFFER_SIZE,My(1,1:BUFFER_SIZE),'r'); hold on; grid on; - p2 = plot(1:BUFFER_SIZE,My(1,1:BUFFER_SIZE),'b'); title(['Magnetometer Y-Axis Plot']); - legend([p1 p2],'input signal','low-pass filtered signal'); subplot(3,1,3) p1 = plot(1:BUFFER_SIZE,Mz(1,1:BUFFER_SIZE),'r'); hold on; grid on; - p2 = plot(1:BUFFER_SIZE,Mz(1,1:BUFFER_SIZE),'b'); title(['Magnetometer Z-Axis Plot']); - legend([p1 p2],'input signal','low-pass filtered signal'); end end end diff --git a/src/sensor_fusion/orientation_filter.cpp b/src/sensor_fusion/orientation_filter.cpp index ef2e228..5af46ff 100644 --- a/src/sensor_fusion/orientation_filter.cpp +++ b/src/sensor_fusion/orientation_filter.cpp @@ -33,12 +33,15 @@ #define US2S (1.0 / 1000000.0) //Initialize sampling interval to 100000microseconds #define SAMPLE_INTV 100000 +#define ACCEL_THRESHOLD 0.2 +#define GYRO_THRESHOLD (0.01 * PI) // constants for computation of covariance and transition matrices #define ZIGMA_W (0.05 * DEG2RAD) #define TAU_W 1000 #define QWB_CONST ((2 * (ZIGMA_W * ZIGMA_W)) / TAU_W) #define F_CONST (-1 / TAU_W) +#define SQUARE(T) (T * T) #define NEGLIGIBLE_VAL 0.0000001 @@ -285,10 +288,18 @@ inline void orientation_filter::time_update_gaming_rv() euler_aid = quat2euler(m_quat_aid); euler_driv = quat2euler(m_quat_output); - euler_angles euler_gaming_rv(euler_aid.m_ang.m_vec[0], euler_aid.m_ang.m_vec[1], - euler_driv.m_ang.m_vec[2]); - - m_quat_gaming_rv = euler2quat(euler_gaming_rv); + if ((SQUARE(m_accel.m_data.m_vec[1]) < ACCEL_THRESHOLD) && (SQUARE(m_gyro.m_data.m_vec[0]) < GYRO_THRESHOLD)) + { + if ((SQUARE(m_accel.m_data.m_vec[0]) < ACCEL_THRESHOLD) && (SQUARE(m_gyro.m_data.m_vec[1]) < GYRO_THRESHOLD)) + { + if (SQUARE(m_gyro.m_data.m_vec[2]) < GYRO_THRESHOLD) + { + euler_angles euler_gaming_rv(euler_aid.m_ang.m_vec[0], euler_aid.m_ang.m_vec[1], + euler_driv.m_ang.m_vec[2]); + m_quat_gaming_rv = euler2quat(euler_gaming_rv); + } + } + } if (is_initialized(m_state_new)) { m_state_error.m_vec[0] = m_euler_error.m_ang.m_vec[0]; -- 2.7.4 From 271f251c26959427112e734e95ec81cc9b666dd2 Mon Sep 17 00:00:00 2001 From: Ramasamy Date: Mon, 10 Aug 2015 11:26:22 +0900 Subject: [PATCH 12/16] Updating geo_rv and gyro_rv support for sensor fusion test file - Added NULL input handling in test file for gyro and geo rotation vector standalone tests. Change-Id: Ia2a3f6a7d0221b27ee1edbcf7d91413bd13c6f95 --- src/sensor_fusion/test/orientation_sensor.cpp | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/src/sensor_fusion/test/orientation_sensor.cpp b/src/sensor_fusion/test/orientation_sensor.cpp index decb3cc..f6cd55c 100644 --- a/src/sensor_fusion/test/orientation_sensor.cpp +++ b/src/sensor_fusion/test/orientation_sensor.cpp @@ -46,15 +46,20 @@ void orientation_sensor::get_device_orientation(sensor_data *accel_data, pre_process_data(accel_data, accel_data, bias_accel, sign_accel, scale_accel); normalize(*accel_data); - pre_process_data(gyro_data, gyro_data, bias_gyro, sign_gyro, scale_gyro); - pre_process_data(magnetic_data, magnetic_data, bias_magnetic, sign_magnetic, scale_magnetic); - normalize(*magnetic_data); - orien_filter.m_magnetic_alignment_factor = magnetic_alignment_factor; + if (gyro_data != NULL) { + pre_process_data(gyro_data, gyro_data, bias_gyro, sign_gyro, scale_gyro); + } + + if (magnetic_data != NULL) { + pre_process_data(magnetic_data, magnetic_data, bias_magnetic, sign_magnetic, scale_magnetic); + normalize(*magnetic_data); + + orien_filter.m_magnetic_alignment_factor = magnetic_alignment_factor; + } orien_filter.get_device_orientation(accel_data, gyro_data, magnetic_data); - orien_filter.m_gyro_bias = orien_filter.m_gyro_bias + vec_bias_gyro; } #endif -- 2.7.4 From ac8734b50b25d4a5bdac79ea43b1846668157e9b Mon Sep 17 00:00:00 2001 From: Vibhor Gaur Date: Wed, 17 Jun 2015 14:25:07 +0530 Subject: [PATCH 13/16] Adding data collected for accelerometer,gyroscope and magnetic sensor for pedometer for different walking scenarios along with the octave code to plot the data -Walking scenarios:Phone in hand,Phone in pant pocket,Phone in shirt pocket and Phone while talking for each of the following cases: 1.Climbing stairs down 2.Climbing satirs up 3.Walking fast 4.Walking slow Change-Id: I8dd891036a892f0987a662dfa765e46a34e7b03f --- .../data/25ms/pedo/Climb_stairs_down/In_hand/accel | 10981 ++++++++++++++++++ .../data/25ms/pedo/Climb_stairs_down/In_hand/gyro | 10990 ++++++++++++++++++ .../25ms/pedo/Climb_stairs_down/In_hand/magnetic | 11161 ++++++++++++++++++ .../25ms/pedo/Climb_stairs_down/Pant_pocket/accel | 7681 +++++++++++++ .../25ms/pedo/Climb_stairs_down/Pant_pocket/gyro | 7667 +++++++++++++ .../pedo/Climb_stairs_down/Pant_pocket/magnetic | 7691 +++++++++++++ .../25ms/pedo/Climb_stairs_down/Shirt_pocket/accel | 11271 +++++++++++++++++++ .../25ms/pedo/Climb_stairs_down/Shirt_pocket/gyro | 10487 +++++++++++++++++ .../pedo/Climb_stairs_down/Shirt_pocket/magnetic | 11261 ++++++++++++++++++ .../pedo/Climb_stairs_down/While_talking/accel | 8768 +++++++++++++++ .../25ms/pedo/Climb_stairs_down/While_talking/gyro | 5182 +++++++++ .../pedo/Climb_stairs_down/While_talking/magnetic | 9425 ++++++++++++++++ .../data/25ms/pedo/Climb_stairs_up/In_hand/accel | 8021 +++++++++++++ .../data/25ms/pedo/Climb_stairs_up/In_hand/gyro | 7454 ++++++++++++ .../25ms/pedo/Climb_stairs_up/In_hand/magnetic | 7857 +++++++++++++ .../25ms/pedo/Climb_stairs_up/Pant_pocket/accel | 8129 +++++++++++++ .../25ms/pedo/Climb_stairs_up/Pant_pocket/gyro | 8249 ++++++++++++++ .../25ms/pedo/Climb_stairs_up/Pant_pocket/magnetic | 8055 +++++++++++++ .../25ms/pedo/Climb_stairs_up/Shirt_pocket/accel | 8575 ++++++++++++++ .../25ms/pedo/Climb_stairs_up/Shirt_pocket/gyro | 8335 ++++++++++++++ .../pedo/Climb_stairs_up/Shirt_pocket/magnetic | 6990 ++++++++++++ .../25ms/pedo/Climb_stairs_up/While_talking/accel | 6981 ++++++++++++ .../25ms/pedo/Climb_stairs_up/While_talking/gyro | 7122 ++++++++++++ .../pedo/Climb_stairs_up/While_talking/magnetic | 6990 ++++++++++++ .../design/data/25ms/pedo/Walk_fast/In_hand/accel | 6733 +++++++++++ .../design/data/25ms/pedo/Walk_fast/In_hand/gyro | 6700 +++++++++++ .../data/25ms/pedo/Walk_fast/In_hand/magnetic | 6751 +++++++++++ .../data/25ms/pedo/Walk_fast/Pant_pocket/accel | 5844 ++++++++++ .../data/25ms/pedo/Walk_fast/Pant_pocket/gyro | 4243 +++++++ .../data/25ms/pedo/Walk_fast/Pant_pocket/magnetic | 5705 ++++++++++ .../data/25ms/pedo/Walk_fast/Shirt_pocket/accel | 6352 +++++++++++ .../data/25ms/pedo/Walk_fast/Shirt_pocket/gyro | 6351 +++++++++++ .../data/25ms/pedo/Walk_fast/Shirt_pocket/magnetic | 6180 ++++++++++ .../data/25ms/pedo/Walk_fast/While_talking/accel | 5872 ++++++++++ .../data/25ms/pedo/Walk_fast/While_talking/gyro | 2846 +++++ .../25ms/pedo/Walk_fast/While_talking/magnetic | 5677 ++++++++++ .../design/data/25ms/pedo/Walk_slow/In_hand/accel | 5115 +++++++++ .../design/data/25ms/pedo/Walk_slow/In_hand/gyro | 5113 +++++++++ .../data/25ms/pedo/Walk_slow/In_hand/magnetic | 6327 +++++++++++ .../data/25ms/pedo/Walk_slow/Pant_pocket/accel | 4235 +++++++ .../data/25ms/pedo/Walk_slow/Pant_pocket/gyro | 3969 +++++++ .../data/25ms/pedo/Walk_slow/Pant_pocket/magnetic | 3967 +++++++ .../data/25ms/pedo/Walk_slow/Shirt_pocket/accel | 7429 ++++++++++++ .../data/25ms/pedo/Walk_slow/Shirt_pocket/gyro | 7743 +++++++++++++ .../data/25ms/pedo/Walk_slow/Shirt_pocket/magnetic | 7755 +++++++++++++ .../data/25ms/pedo/Walk_slow/While_talking/accel | 4781 ++++++++ .../data/25ms/pedo/Walk_slow/While_talking/gyro | 4557 ++++++++ .../25ms/pedo/Walk_slow/While_talking/magnetic | 4134 +++++++ src/sensor_fusion/design/lib/sf_pedometer.m | 125 + 49 files changed, 339827 insertions(+) create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_down/In_hand/accel create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_down/In_hand/gyro create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_down/In_hand/magnetic create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_down/Pant_pocket/accel create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_down/Pant_pocket/gyro create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_down/Pant_pocket/magnetic create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_down/Shirt_pocket/accel create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_down/Shirt_pocket/gyro create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_down/Shirt_pocket/magnetic create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_down/While_talking/accel create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_down/While_talking/gyro create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_down/While_talking/magnetic create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_up/In_hand/accel create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_up/In_hand/gyro create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_up/In_hand/magnetic create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_up/Pant_pocket/accel create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_up/Pant_pocket/gyro create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_up/Pant_pocket/magnetic create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_up/Shirt_pocket/accel create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_up/Shirt_pocket/gyro create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_up/Shirt_pocket/magnetic create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_up/While_talking/accel create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_up/While_talking/gyro create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Climb_stairs_up/While_talking/magnetic create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_fast/In_hand/accel create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_fast/In_hand/gyro create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_fast/In_hand/magnetic create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_fast/Pant_pocket/accel create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_fast/Pant_pocket/gyro create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_fast/Pant_pocket/magnetic create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_fast/Shirt_pocket/accel create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_fast/Shirt_pocket/gyro create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_fast/Shirt_pocket/magnetic create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_fast/While_talking/accel create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_fast/While_talking/gyro create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_fast/While_talking/magnetic create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_slow/In_hand/accel create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_slow/In_hand/gyro create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_slow/In_hand/magnetic create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_slow/Pant_pocket/accel create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_slow/Pant_pocket/gyro create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_slow/Pant_pocket/magnetic create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_slow/Shirt_pocket/accel create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_slow/Shirt_pocket/gyro create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_slow/Shirt_pocket/magnetic create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_slow/While_talking/accel create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_slow/While_talking/gyro create mode 100644 src/sensor_fusion/design/data/25ms/pedo/Walk_slow/While_talking/magnetic create mode 100755 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2.0 (the "License"); +% you may not use this file except in compliance with the License. +% You may obtain a copy of the License at +% +% http://www.apache.org/licenses/LICENSE-2.0 +% +% Unless required by applicable law or agreed to in writing, software +% distributed under the License is distributed on an "AS IS" BASIS, +% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +% See the License for the specific language governing permissions and +% limitations under the License. + +% Sensor Fusion Implementation for Pedometer Estimation +% +% - Input Accelerometer, Gyroscope and Magnetometer sensor data +% - Plot results for Pedometer + +addpath('lib'); +clear +close all +clc + +GRAVITY = 9.80665; + +Bias_Ax = 0.098586; +Bias_Ay = 0.18385; +Bias_Az = 10.084 - GRAVITY; + +Bias_Gx = -5.3539; +Bias_Gy = 0.24325; +Bias_Gz = 2.3391; + +Bias_Mx = 0; +Bias_My = 0; +Bias_Mz = 0; + +Sign_Ax = 1; +Sign_Ay = 1; +Sign_Az = 1; + +Sign_Gx = 1; +Sign_Gy = 1; +Sign_Gz = 1; + +Sign_Mx = 1; +Sign_My = 1; +Sign_Mz = 1; + +BUFFER_SIZE = 8700; + +Accel_data = zeros(4,BUFFER_SIZE); +Gyro_data = zeros(4,BUFFER_SIZE); +Mag_data = zeros(4,BUFFER_SIZE); + +% Sensor Data simulating pedometer motions + +% get accel x,y,z axis data from stored file +Accel_data(1,:) = (((dlmread("accel")(:,1))') - Bias_Ax)(1:BUFFER_SIZE); +Accel_data(2,:) = (((dlmread("accel")(:,2))') - Bias_Ay)(1:BUFFER_SIZE); +Accel_data(3,:) = (((dlmread("accel")(:,3))') - Bias_Az)(1:BUFFER_SIZE); +Accel_data(4,:) = ((dlmread("accel")(:,4))')(1:BUFFER_SIZE); + +% get gyro x,y,z axis data from stored file +Gyro_data(1,:) = (((dlmread("gyro")(:,1))') - Bias_Gx)(1:BUFFER_SIZE); +Gyro_data(2,:) = (((dlmread("gyro")(:,2))') - Bias_Gy)(1:BUFFER_SIZE); +Gyro_data(3,:) = (((dlmread("gyro")(:,3))') - Bias_Gz)(1:BUFFER_SIZE); +Gyro_data(4,:) = ((dlmread("gyro")(:,4))')(1:BUFFER_SIZE); + +scale_Gyro = 1150; +Gyro_data(1,:) = Gyro_data(1,:)/scale_Gyro; +Gyro_data(2,:) = Gyro_data(2,:)/scale_Gyro; +Gyro_data(3,:) = Gyro_data(3,:)/scale_Gyro; + +% get magnetometer x,y,z axis data from stored file +Mag_data(1,:) = (((dlmread("magnetic")(:,1))') - Bias_Mx)(1:BUFFER_SIZE) * Sign_Mx; +Mag_data(2,:) = (((dlmread("magnetic")(:,2))') - Bias_My)(1:BUFFER_SIZE) * Sign_My; +Mag_data(3,:) = (((dlmread("magnetic")(:,3))') - Bias_Mz)(1:BUFFER_SIZE) * Sign_Mz; +Mag_data(4,:) = ((dlmread("magnetic")(:,4))')(1:BUFFER_SIZE); + +hfig=(figure); +scrsz = get(0,'ScreenSize'); +set(hfig,'position',scrsz); + +subplot(3,1,1) +UA = Accel_data(1,:); +p1 = plot(1:length(UA),UA(1,1:length(UA)),'r'); +hold on; +grid on; +UA = Accel_data(2,:); +p2 = plot(1:length(UA),UA(1,1:length(UA)),'b'); +hold on; +grid on; +UA = Accel_data(3,:); +p3 = plot(1:length(UA),UA(1,1:length(UA)),'g'); +title(['Accel']); + +subplot(3,1,2) +UA = Gyro_data(1,:); +p1 = plot(1:length(UA),UA(1,1:length(UA)),'r'); +hold on; +grid on; +UA = Gyro_data(2,:); +p2 = plot(1:length(UA),UA(1,1:length(UA)),'b'); +hold on; +grid on; +UA = Gyro_data(3,:); +p3 = plot(1:length(UA),UA(1,1:length(UA)),'g'); +title(['Gyro']); + +subplot(3,1,3) +UA = Mag_data(1,:); +p1 = plot(1:length(UA),UA(1,1:length(UA)),'r'); +hold on; +grid on; +UA = Mag_data(2,:); +p2 = plot(1:length(UA),UA(1,1:length(UA)),'b'); +hold on; +grid on; +UA = Mag_data(3,:); +p3 = plot(1:length(UA),UA(1,1:length(UA)),'g'); +title(['Magnetic']); -- 2.7.4 From 3d50b776066f0cf2e35b11b05205b8d0c9d6249d Mon Sep 17 00:00:00 2001 From: Ankur Date: Fri, 21 Aug 2015 15:16:56 +0530 Subject: [PATCH 14/16] Fixing bug related to polling for geomagnetic_rv sensor signed-off-by:"Ankur Garg " Change-Id: I23f837e6016ce80110f22432e55af44d8c403814 --- src/rotation_vector/geomagnetic_rv/geomagnetic_rv_sensor.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/rotation_vector/geomagnetic_rv/geomagnetic_rv_sensor.cpp b/src/rotation_vector/geomagnetic_rv/geomagnetic_rv_sensor.cpp index 723aca1..c3e8a26 100755 --- a/src/rotation_vector/geomagnetic_rv/geomagnetic_rv_sensor.cpp +++ b/src/rotation_vector/geomagnetic_rv/geomagnetic_rv_sensor.cpp @@ -219,10 +219,10 @@ int geomagnetic_rv_sensor::get_sensor_data(unsigned int event_type, sensor_data_ data.accuracy = SENSOR_ACCURACY_GOOD; data.timestamp = get_timestamp(); data.value_count = 4; - data.values[0] = data.values[1]; - data.values[1] = data.values[2]; - data.values[2] = data.values[3]; - data.values[3] = data.values[0]; + data.values[0] = fusion_data.values[1]; + data.values[1] = fusion_data.values[2]; + data.values[2] = fusion_data.values[3]; + data.values[3] = fusion_data.values[0]; return 0; } -- 2.7.4 From 7fee15c18ac4ce536e2487196f63acc5ca5726aa Mon Sep 17 00:00:00 2001 From: Ankur Date: Wed, 12 Aug 2015 11:57:47 +0530 Subject: [PATCH 15/16] Modifying Gaming RV to use a separate instance of sensor fusion - separate from fusion sensor Independent of Fusion Sensor. Tested on rd-pq signed-off-by:"Ankur Garg " Change-Id: I7c65b00866e9c92fbc9e171f265a83ed232db95a --- src/rotation_vector/gaming_rv/gaming_rv_sensor.cpp | 157 ++++++++++++++++----- src/rotation_vector/gaming_rv/gaming_rv_sensor.h | 14 +- virtual_sensors.xml | 18 +++ 3 files changed, 154 insertions(+), 35 deletions(-) diff --git a/src/rotation_vector/gaming_rv/gaming_rv_sensor.cpp b/src/rotation_vector/gaming_rv/gaming_rv_sensor.cpp index 6982608..fa359a0 100755 --- a/src/rotation_vector/gaming_rv/gaming_rv_sensor.cpp +++ b/src/rotation_vector/gaming_rv/gaming_rv_sensor.cpp @@ -35,17 +35,36 @@ #define SENSOR_NAME "GAMING_RV_SENSOR" #define SENSOR_TYPE_GAMING_RV "GAMING_ROTATION_VECTOR" -#define MIN_DELIVERY_DIFF_FACTOR 0.75f +#define ACCELEROMETER_ENABLED 0x01 +#define GYROSCOPE_ENABLED 0x02 +#define GAMING_RV_ENABLED 3 + +#define INITIAL_VALUE -1 #define MS_TO_US 1000 +#define ELEMENT_NAME "NAME" #define ELEMENT_VENDOR "VENDOR" +#define ELEMENT_RAW_DATA_UNIT "RAW_DATA_UNIT" #define ELEMENT_DEFAULT_SAMPLING_TIME "DEFAULT_SAMPLING_TIME" +#define ELEMENT_ACCEL_STATIC_BIAS "ACCEL_STATIC_BIAS" +#define ELEMENT_GYRO_STATIC_BIAS "GYRO_STATIC_BIAS" +#define ELEMENT_ACCEL_ROTATION_DIRECTION_COMPENSATION "ACCEL_ROTATION_DIRECTION_COMPENSATION" +#define ELEMENT_GYRO_ROTATION_DIRECTION_COMPENSATION "GYRO_ROTATION_DIRECTION_COMPENSATION" +#define ELEMENT_ACCEL_SCALE "ACCEL_SCALE" +#define ELEMENT_GYRO_SCALE "GYRO_SCALE" + +void pre_process_data(sensor_data &data_out, const float *data_in, float *bias, int *sign, float scale) +{ + data_out.m_data.m_vec[0] = sign[0] * (data_in[0] - bias[0]) / scale; + data_out.m_data.m_vec[1] = sign[1] * (data_in[1] - bias[1]) / scale; + data_out.m_data.m_vec[2] = sign[2] * (data_in[2] - bias[2]) / scale; +} gaming_rv_sensor::gaming_rv_sensor() : m_accel_sensor(NULL) , m_gyro_sensor(NULL) -, m_fusion_sensor(NULL) +, m_accuracy(-1) , m_time(0) { cvirtual_sensor_config &config = cvirtual_sensor_config::get_instance(); @@ -56,8 +75,11 @@ gaming_rv_sensor::gaming_rv_sensor() else m_hardware_fusion = true; + INFO("m_hardware_fusion = %d", m_hardware_fusion); + m_name = string(SENSOR_NAME); register_supported_event(GAMING_RV_RAW_DATA_EVENT); + m_enable_gaming_rv = 0; if (!config.get(SENSOR_TYPE_GAMING_RV, ELEMENT_VENDOR, m_vendor)) { ERR("[VENDOR] is empty\n"); @@ -73,6 +95,48 @@ gaming_rv_sensor::gaming_rv_sensor() INFO("m_default_sampling_time = %d", m_default_sampling_time); + if (!config.get(SENSOR_TYPE_GAMING_RV, ELEMENT_ACCEL_STATIC_BIAS, m_accel_static_bias, 3)) { + ERR("[ACCEL_STATIC_BIAS] is empty\n"); + throw ENXIO; + } + + INFO("m_accel_static_bias = (%f, %f, %f)", m_accel_static_bias[0], m_accel_static_bias[1], m_accel_static_bias[2]); + + if (!config.get(SENSOR_TYPE_GAMING_RV, ELEMENT_GYRO_STATIC_BIAS, m_gyro_static_bias,3)) { + ERR("[GYRO_STATIC_BIAS] is empty\n"); + throw ENXIO; + } + + INFO("m_gyro_static_bias = (%f, %f, %f)", m_gyro_static_bias[0], m_gyro_static_bias[1], m_gyro_static_bias[2]); + + if (!config.get(SENSOR_TYPE_GAMING_RV, ELEMENT_ACCEL_ROTATION_DIRECTION_COMPENSATION, m_accel_rotation_direction_compensation, 3)) { + ERR("[ACCEL_ROTATION_DIRECTION_COMPENSATION] is empty\n"); + throw ENXIO; + } + + INFO("m_accel_rotation_direction_compensation = (%d, %d, %d)", m_accel_rotation_direction_compensation[0], m_accel_rotation_direction_compensation[1], m_accel_rotation_direction_compensation[2]); + + if (!config.get(SENSOR_TYPE_GAMING_RV, ELEMENT_GYRO_ROTATION_DIRECTION_COMPENSATION, m_gyro_rotation_direction_compensation, 3)) { + ERR("[GYRO_ROTATION_DIRECTION_COMPENSATION] is empty\n"); + throw ENXIO; + } + + INFO("m_gyro_rotation_direction_compensation = (%d, %d, %d)", m_gyro_rotation_direction_compensation[0], m_gyro_rotation_direction_compensation[1], m_gyro_rotation_direction_compensation[2]); + + if (!config.get(SENSOR_TYPE_GAMING_RV, ELEMENT_ACCEL_SCALE, &m_accel_scale)) { + ERR("[ACCEL_SCALE] is empty\n"); + throw ENXIO; + } + + INFO("m_accel_scale = %f", m_accel_scale); + + if (!config.get(SENSOR_TYPE_GAMING_RV, ELEMENT_GYRO_SCALE, &m_gyro_scale)) { + ERR("[GYRO_SCALE] is empty\n"); + throw ENXIO; + } + + INFO("m_gyro_scale = %f", m_gyro_scale); + m_interval = m_default_sampling_time * MS_TO_US; } @@ -86,11 +150,9 @@ bool gaming_rv_sensor::init() m_accel_sensor = sensor_plugin_loader::get_instance().get_sensor(ACCELEROMETER_SENSOR); m_gyro_sensor = sensor_plugin_loader::get_instance().get_sensor(GYROSCOPE_SENSOR); - m_fusion_sensor = sensor_plugin_loader::get_instance().get_sensor(FUSION_SENSOR); - - if (!m_accel_sensor || !m_gyro_sensor || !m_fusion_sensor) { - ERR("Failed to load sensors, accel: 0x%x, gyro: 0x%x, fusion: 0x%x", - m_accel_sensor, m_gyro_sensor, m_fusion_sensor); + if (!m_accel_sensor || !m_gyro_sensor) { + ERR("Failed to load sensors, accel: 0x%x, gyro: 0x%x", + m_accel_sensor, m_gyro_sensor); return false; } @@ -117,12 +179,6 @@ bool gaming_rv_sensor::on_start(void) m_gyro_sensor->start(); } - m_fusion_sensor->register_supported_event(FUSION_EVENT); - m_fusion_sensor->register_supported_event(FUSION_GAMING_ROTATION_VECTOR_ENABLED); - m_fusion_sensor->add_client(FUSION_EVENT); - m_fusion_sensor->add_interval((intptr_t)this, (m_interval/MS_TO_US), false); - m_fusion_sensor->start(); - activate(); return true; } @@ -140,12 +196,6 @@ bool gaming_rv_sensor::on_stop(void) m_gyro_sensor->stop(); } - m_fusion_sensor->delete_client(FUSION_EVENT); - m_fusion_sensor->delete_interval((intptr_t)this, false); - m_fusion_sensor->unregister_supported_event(FUSION_EVENT); - m_fusion_sensor->unregister_supported_event(FUSION_GAMING_ROTATION_VECTOR_ENABLED); - m_fusion_sensor->stop(); - deactivate(); return true; } @@ -159,8 +209,6 @@ bool gaming_rv_sensor::add_interval(int client_id, unsigned int interval) m_gyro_sensor->add_interval(client_id, interval, false); } - m_fusion_sensor->add_interval(client_id, interval, false); - return sensor_base::add_interval(client_id, interval, false); } @@ -173,33 +221,58 @@ bool gaming_rv_sensor::delete_interval(int client_id) m_gyro_sensor->delete_interval(client_id, false); } - m_fusion_sensor->delete_interval(client_id, false); - return sensor_base::delete_interval(client_id, false); } void gaming_rv_sensor::synthesize(const sensor_event_t& event, vector &outs) { + const float MIN_DELIVERY_DIFF_FACTOR = 0.75f; unsigned long long diff_time; sensor_event_t rv_event; + quaternion quaternion_gaming_rv; + + if (event.event_type == ACCELEROMETER_RAW_DATA_EVENT) { + diff_time = event.data.timestamp - m_time; + + if (m_time && (diff_time < m_interval * MIN_DELIVERY_DIFF_FACTOR)) + return; + + pre_process_data(m_accel, event.data.values, m_accel_static_bias, m_accel_rotation_direction_compensation, m_accel_scale); - if (event.event_type == FUSION_EVENT) { + m_accel.m_time_stamp = event.data.timestamp; + + m_enable_gaming_rv |= ACCELEROMETER_ENABLED; + } else if (event.event_type == GYROSCOPE_RAW_DATA_EVENT) { diff_time = event.data.timestamp - m_time; if (m_time && (diff_time < m_interval * MIN_DELIVERY_DIFF_FACTOR)) return; + pre_process_data(m_gyro, event.data.values, m_gyro_static_bias, m_gyro_rotation_direction_compensation, m_gyro_scale); + + m_gyro.m_time_stamp = event.data.timestamp; + + m_enable_gaming_rv |= GYROSCOPE_ENABLED; + } + + if (m_enable_gaming_rv == GAMING_RV_ENABLED) { + m_enable_gaming_rv = 0; + + m_orientation_filter.get_device_orientation(&m_accel, &m_gyro, NULL); + + quaternion_gaming_rv = m_orientation_filter.m_quat_gaming_rv; + m_time = get_timestamp(); rv_event.sensor_id = get_id(); rv_event.event_type = GAMING_RV_RAW_DATA_EVENT; rv_event.data.accuracy = SENSOR_ACCURACY_GOOD; rv_event.data.timestamp = m_time; rv_event.data.value_count = 4; - rv_event.data.values[0] = event.data.values[1]; - rv_event.data.values[1] = event.data.values[2]; - rv_event.data.values[2] = event.data.values[3]; - rv_event.data.values[3] = event.data.values[0]; + rv_event.data.values[0] = quaternion_gaming_rv.m_quat.m_vec[1]; + rv_event.data.values[1] = quaternion_gaming_rv.m_quat.m_vec[2]; + rv_event.data.values[2] = quaternion_gaming_rv.m_quat.m_vec[3]; + rv_event.data.values[3] = quaternion_gaming_rv.m_quat.m_vec[0]; push(rv_event); } @@ -209,20 +282,36 @@ void gaming_rv_sensor::synthesize(const sensor_event_t& event, vector accel; + sensor_data gyro; + + sensor_data_t accel_data; + sensor_data_t gyro_data; + + quaternion quaternion_gaming_rv; if (event_type != GAMING_RV_RAW_DATA_EVENT) return -1; - m_fusion_sensor->get_sensor_data(FUSION_GAMING_ROTATION_VECTOR_ENABLED, fusion_data); + m_accel_sensor->get_sensor_data(ACCELEROMETER_RAW_DATA_EVENT, accel_data); + m_gyro_sensor->get_sensor_data(GYROSCOPE_RAW_DATA_EVENT, gyro_data); + + pre_process_data(accel, accel_data.values, m_accel_static_bias, m_accel_rotation_direction_compensation, m_accel_scale); + pre_process_data(gyro, gyro_data.values, m_gyro_static_bias, m_gyro_rotation_direction_compensation, m_gyro_scale); + accel.m_time_stamp = accel_data.timestamp; + gyro.m_time_stamp = gyro_data.timestamp; + + m_orientation_filter_poll.get_device_orientation(&m_accel, &m_gyro, NULL); + + quaternion_gaming_rv = m_orientation_filter_poll.m_quat_gaming_rv; data.accuracy = SENSOR_ACCURACY_GOOD; data.timestamp = get_timestamp(); data.value_count = 4; - data.values[0] = fusion_data.values[1]; - data.values[1] = fusion_data.values[2]; - data.values[2] = fusion_data.values[3]; - data.values[3] = fusion_data.values[0]; + data.values[0] = quaternion_gaming_rv.m_quat.m_vec[1]; + data.values[1] = quaternion_gaming_rv.m_quat.m_vec[2]; + data.values[2] = quaternion_gaming_rv.m_quat.m_vec[3]; + data.values[3] = quaternion_gaming_rv.m_quat.m_vec[0]; return 0; } diff --git a/src/rotation_vector/gaming_rv/gaming_rv_sensor.h b/src/rotation_vector/gaming_rv/gaming_rv_sensor.h index 6572907..db9dd47 100755 --- a/src/rotation_vector/gaming_rv/gaming_rv_sensor.h +++ b/src/rotation_vector/gaming_rv/gaming_rv_sensor.h @@ -43,13 +43,18 @@ public: private: sensor_base *m_accel_sensor; sensor_base *m_gyro_sensor; - sensor_base *m_fusion_sensor; sensor_data m_accel; sensor_data m_gyro; cmutex m_value_mutex; + orientation_filter m_orientation_filter; + orientation_filter m_orientation_filter_poll; + + unsigned int m_enable_gaming_rv; + + int m_accuracy; unsigned long long m_time; unsigned int m_interval; @@ -57,6 +62,13 @@ private: string m_raw_data_unit; int m_default_sampling_time; + float m_accel_static_bias[3]; + float m_gyro_static_bias[3]; + int m_accel_rotation_direction_compensation[3]; + int m_gyro_rotation_direction_compensation[3]; + float m_accel_scale; + float m_gyro_scale; + bool on_start(void); bool on_stop(void); }; diff --git a/virtual_sensors.xml b/virtual_sensors.xml index 52ce6fb..4b2c3e0 100755 --- a/virtual_sensors.xml +++ b/virtual_sensors.xml @@ -63,6 +63,12 @@ + + + + + + @@ -152,6 +158,12 @@ + + + + + + @@ -241,6 +253,12 @@ + + + + + + -- 2.7.4 From c17186d6f0a3d28e735fe36bb91c5e5fd777cafc Mon Sep 17 00:00:00 2001 From: Ankur Date: Thu, 10 Sep 2015 11:56:24 +0530 Subject: [PATCH 16/16] Correcting the polling function get_sensor_data error for rotation_vector signed-off-by:"Ankur Garg " Change-Id: Ieed8021b878a8b6cd91e2de51dd4c0f1fffb44fe --- src/rotation_vector/rv/rv_sensor.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/rotation_vector/rv/rv_sensor.cpp b/src/rotation_vector/rv/rv_sensor.cpp index 5114cdc..bcf20e2 100755 --- a/src/rotation_vector/rv/rv_sensor.cpp +++ b/src/rotation_vector/rv/rv_sensor.cpp @@ -241,10 +241,10 @@ int rv_sensor::get_sensor_data(unsigned int event_type, sensor_data_t &data) data.accuracy = SENSOR_ACCURACY_GOOD; data.timestamp = get_timestamp(); data.value_count = 4; - data.values[0] = data.values[1]; - data.values[1] = data.values[2]; - data.values[2] = data.values[3]; - data.values[3] = data.values[0]; + data.values[0] = fusion_data.values[1]; + data.values[1] = fusion_data.values[2]; + data.values[2] = fusion_data.values[3]; + data.values[3] = fusion_data.values[0]; return 0; } -- 2.7.4