Fix rest detection timescale #305
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Sensor fusion expects the time to be in seconds while rest detection expects it to be in microseconds. This makes is so when the update sensor fusion is called the rest detection now gets the time in micros
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wigwagwent
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Dec 1, 2023
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The time scale can probably be moved to |
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Jan 19, 2024
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I changed the rest detection to be in seconds instead of in microseconds like it was before. I am not able to test this. The best way to test would be see if you can still calibrate a bmi160. |
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src/motionprocessing/RestDetection.h
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| @@ -20,14 +20,14 @@ | |||
| struct RestDetectionParams { | |||
| sensor_real_t biasClip; | |||
| sensor_real_t biasSigmaRest; | |||
| uint32_t restMinTimeMicros; | |||
| uint32_t restMinTime; | |||
src/motionprocessing/RestDetection.h
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| @@ -235,7 +235,7 @@ class RestDetection { | |||
| private: | |||
| RestDetectionParams params; | |||
| bool restDetected; | |||
| uint32_t restTimeMicros; | |||
| uint32_t restTime; | |||
src/motionprocessing/RestDetection.h
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| restDetected = false; | ||
| } | ||
| #endif | ||
| } | ||
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|
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| void updateAcc(uint32_t dtMicros, sensor_real_t acc[3]) { | ||
| void updateAcc(uint32_t dt, sensor_real_t acc[3]) { |
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Eirenliel
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Mar 8, 2024
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Sensor fusion expects the time to be in seconds while rest detection expects it to be in microseconds. This makes is so when the update sensor fusion is called the rest detection now gets the time in micros Co-authored-by: Eiren Rain <Eirenliel@users.noreply.github.com>
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Sensor fusion expects the time to be in seconds while rest detection expects it to be in microseconds. This makes is so when the update sensor fusion is called the rest detection now gets the time in micros. Also linear acceleration was missing parentheses giving wrong results (only lsm6dsv uses this to my knowledge)