diff options
Diffstat (limited to 'src/plugins/sensors/generic')
| -rw-r--r-- | src/plugins/sensors/generic/genericrotationsensor.cpp | 8 | ||||
| -rw-r--r-- | src/plugins/sensors/generic/generictiltsensor.cpp | 49 | ||||
| -rw-r--r-- | src/plugins/sensors/generic/main.cpp | 6 |
3 files changed, 18 insertions, 45 deletions
diff --git a/src/plugins/sensors/generic/genericrotationsensor.cpp b/src/plugins/sensors/generic/genericrotationsensor.cpp index adf28e43..40768297 100644 --- a/src/plugins/sensors/generic/genericrotationsensor.cpp +++ b/src/plugins/sensors/generic/genericrotationsensor.cpp @@ -41,8 +41,6 @@ #include <QDebug> #include <qmath.h> -#define RADIANS_TO_DEGREES 57.2957795 - char const * const genericrotationsensor::id("generic.rotation"); genericrotationsensor::genericrotationsensor(QSensor *sensor) @@ -88,8 +86,8 @@ bool genericrotationsensor::filter(QSensorReading *reading) // Note that the formula used come from this document: // http://www.freescale.com/files/sensors/doc/app_note/AN3461.pdf - pitch = qAtan(y / qSqrt(x*x + z*z)) * RADIANS_TO_DEGREES; - roll = qAtan(x / qSqrt(y*y + z*z)) * RADIANS_TO_DEGREES; + pitch = qRadiansToDegrees(qAtan(y / qSqrt(x * x + z * z))); + roll = qRadiansToDegrees(qAtan(x / qSqrt(y * y + z * z))); // Roll is a left-handed rotation but we need right-handed rotation roll = -roll; @@ -98,7 +96,7 @@ bool genericrotationsensor::filter(QSensorReading *reading) // Note that theta is defined as the angle of the Z axis relative // to gravity (see referenced document). It's negative when the // face of the device points downward. - qreal theta = qAtan(qSqrt(x*x + y*y) / z) * RADIANS_TO_DEGREES; + qreal theta = qRadiansToDegrees(qAtan(qSqrt(x * x + y * y) / z)); if (theta < 0) { if (roll > 0) roll = 180 - roll; diff --git a/src/plugins/sensors/generic/generictiltsensor.cpp b/src/plugins/sensors/generic/generictiltsensor.cpp index 831b03ec..bb418893 100644 --- a/src/plugins/sensors/generic/generictiltsensor.cpp +++ b/src/plugins/sensors/generic/generictiltsensor.cpp @@ -39,14 +39,13 @@ #include "generictiltsensor.h" #include <QDebug> -#define _USE_MATH_DEFINES #include <qmath.h> char const * const GenericTiltSensor::id("generic.tilt"); GenericTiltSensor::GenericTiltSensor(QSensor *sensor) : QSensorBackend(sensor) - , radAccuracy(M_PI / 180) + , radAccuracy(qDegreesToRadians(qreal(1))) , pitch(0) , roll(0) , calibratedPitch(0) @@ -80,24 +79,18 @@ void GenericTiltSensor::stop() /* Angle between Ground and X - | Ax | - pitch = arctan| ----------------------- | - | sqrt(Ay * Ay + Az * Az)| */ static inline qreal calcPitch(double Ax, double Ay, double Az) { - return -qAtan2(Ax, qSqrt(Ay * Ay + Az * Az)); + return qAtan2(-Ax, qSqrt(Ay * Ay + Az * Az)); } /* Angle between Ground and Y - | Ay | - roll = arctan| ----------------------- | - | sqrt(Ax * Ax + Az * Az)| */ -static inline qreal calcRoll(double Ax, double Ay, double Az) +static inline qreal calcRoll(double /*Ax*/, double Ay, double Az) { - return qAtan2(Ay, (qSqrt(Ax * Ax + Az * Az))); + return qAtan2(Ay, Az); } void GenericTiltSensor::calibrate() @@ -106,11 +99,6 @@ void GenericTiltSensor::calibrate() calibratedRoll = roll; } -static qreal rad2deg(qreal rad) -{ - return rad / (2 * M_PI) * 360; -} - bool GenericTiltSensor::filter(QAccelerometerReading *reading) { /* @@ -138,39 +126,26 @@ bool GenericTiltSensor::filter(QAccelerometerReading *reading) qreal xrot = roll - calibratedRoll; qreal yrot = pitch - calibratedPitch; //get angle between 0 and 180 or 0 -180 - qreal aG = 1 * qSin(xrot); - qreal aK = 1 * qCos(xrot); - xrot = qAtan2(aG, aK); - if (xrot > M_PI_2) - xrot = M_PI - xrot; - else if (xrot < -M_PI_2) - xrot = -(M_PI + xrot); - aG = 1 * qSin(yrot); - aK = 1 * qCos(yrot); - yrot = qAtan2(aG, aK); - if (yrot > M_PI_2) - yrot = M_PI - yrot; - else if (yrot < -M_PI_2) - yrot = -(M_PI + yrot); - + xrot = qAtan2(qSin(xrot), qCos(xrot)); + yrot = qAtan2(qSin(yrot), qCos(yrot)); #ifdef LOGCALIBRATION qDebug() << "new xrot: " << xrot; qDebug() << "new yrot: " << yrot; qDebug() << "----------------------------------"; #endif - qreal dxrot = rad2deg(xrot) - xRotation; - qreal dyrot = rad2deg(yrot) - yRotation; + qreal dxrot = qRadiansToDegrees(xrot) - xRotation; + qreal dyrot = qRadiansToDegrees(yrot) - yRotation; if (dxrot < 0) dxrot = -dxrot; if (dyrot < 0) dyrot = -dyrot; bool setNewReading = false; - if (dxrot >= rad2deg(radAccuracy) || !sensor()->skipDuplicates()) { - xRotation = rad2deg(xrot); + if (dxrot >= qRadiansToDegrees(radAccuracy) || !sensor()->skipDuplicates()) { + xRotation = qRadiansToDegrees(xrot); setNewReading = true; } - if (dyrot >= rad2deg(radAccuracy) || !sensor()->skipDuplicates()) { - yRotation = rad2deg(yrot); + if (dyrot >= qRadiansToDegrees(radAccuracy) || !sensor()->skipDuplicates()) { + yRotation = qRadiansToDegrees(yrot); setNewReading = true; } diff --git a/src/plugins/sensors/generic/main.cpp b/src/plugins/sensors/generic/main.cpp index 9bed9011..44bfff09 100644 --- a/src/plugins/sensors/generic/main.cpp +++ b/src/plugins/sensors/generic/main.cpp @@ -61,12 +61,12 @@ class genericSensorPlugin : public QObject, public QSensorPluginInterface, publi Q_PLUGIN_METADATA(IID "com.qt-project.Qt.QSensorPluginInterface/1.0" FILE "plugin.json") Q_INTERFACES(QSensorPluginInterface QSensorChangesInterface) public: - void registerSensors() + void registerSensors() override { // Nothing to register here } - void sensorsChanged() + void sensorsChanged() override { if (!QSensor::defaultSensorForType(QAccelerometer::type).isEmpty()) { // There is an accelerometer available. Register the backends @@ -110,7 +110,7 @@ public: } } - QSensorBackend *createBackend(QSensor *sensor) + QSensorBackend *createBackend(QSensor *sensor) override { #ifdef QTSENSORS_GENERICORIENTATIONSENSOR if (sensor->identifier() == genericorientationsensor::id) |