diff options
Diffstat (limited to 'src/plugins')
| -rw-r--r-- | src/plugins/sensors/generic/generictiltsensor.cpp | 29 |
1 files changed, 5 insertions, 24 deletions
diff --git a/src/plugins/sensors/generic/generictiltsensor.cpp b/src/plugins/sensors/generic/generictiltsensor.cpp index a4ada7d8..bb418893 100644 --- a/src/plugins/sensors/generic/generictiltsensor.cpp +++ b/src/plugins/sensors/generic/generictiltsensor.cpp @@ -79,24 +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() @@ -132,21 +126,8 @@ 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; |