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Updated CompassSensor to compensate for geomag declination

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Change-Id: I82b421fc5d62fafa1bf6634430f76966025d6b46
Signed-off-by: Ricky Barrette <rickbarrette@gmail.com>
This commit is contained in:
Ricky Barrette
2012-03-11 23:45:55 -04:00
parent 86d34b501f
commit 24d820cada
1 changed files with 58 additions and 25 deletions
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83
LocationLib/src/com/TwentyCodes/android/location/CompassSensor.java
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@@ -6,17 +6,19 @@
*/
package com.TwentyCodes.android.location;
import com.TwentyCodes.android.debug.Debug;
import android.content.Context;
import android.content.res.Configuration;
import android.hardware.GeomagneticField;
import android.hardware.Sensor;
import android.hardware.SensorEvent;
import android.hardware.SensorEventListener;
import android.hardware.SensorManager;
import android.location.Location;
import android.os.Handler;
import android.os.Message;
import com.TwentyCodes.android.debug.Debug;
/**
* A simple convince class that accesses the compass sensor on another thread
* @author ricky barrette
@@ -28,18 +30,20 @@ public class CompassSensor{
private CompassListener mListener;
private final Handler mHandler;
private Context mContext;
private float mDelination = 0;
private final SensorEventListener mCallBack = new SensorEventListener() {
private float[] inR = new float[16];
private float[] I = new float[16];
private float[] gravity = new float[3];
private float[] geomag = new float[3];
private float[] orientVals = new float[3];
private float[] mR = new float[16];
private float[] mI = new float[16];
private float[] mGravity = new float[3];
private float[] mGeomag = new float[3];
private float[] mOrientVals = new float[3];
private double azimuth = 0;
double pitch = 0;
double roll = 0;
private double mAzimuth = 0;
double mPitch = 0;
double mRoll = 0;
private float mInclination;
public void onSensorChanged(SensorEvent sensorEvent) {
// If the sensor data is unreliable return
@@ -49,44 +53,56 @@ public class CompassSensor{
// Gets the value of the sensor that has been changed
switch (sensorEvent.sensor.getType()) {
case Sensor.TYPE_ACCELEROMETER:
gravity = sensorEvent.values.clone();
mGravity = sensorEvent.values.clone();
break;
case Sensor.TYPE_MAGNETIC_FIELD:
geomag = sensorEvent.values.clone();
mGeomag = sensorEvent.values.clone();
break;
}
// If gravity and geomag have values then find rotation matrix
if (gravity != null && geomag != null) {
if (mGravity != null && mGeomag != null) {
// checks that the rotation matrix is found
boolean success = SensorManager.getRotationMatrix(inR, I, gravity, geomag);
boolean success = SensorManager.getRotationMatrix(mR, mI, mGravity, mGeomag);
if (success) {
SensorManager.getOrientation(inR, orientVals);
azimuth = Math.toDegrees(orientVals[0]);
pitch = Math.toDegrees(orientVals[1]);
roll = Math.toDegrees(orientVals[2]);
/**
/*
* TODO remap cords due to Display.getRotation()
*/
// SensorManager.remapCoordinateSystem(mR, SensorManager.AXIS_MINUS_Y, SensorManager.AXIS_X, mR);
SensorManager.getOrientation(mR, mOrientVals);
mInclination = SensorManager.getInclination(mI);
mAzimuth = Math.toDegrees(mOrientVals[0]);
mPitch = Math.toDegrees(mOrientVals[1]);
mRoll = Math.toDegrees(mOrientVals[2]);
/*
* compensate for magentic delination
*/
mAzimuth += mDelination;
/*
* this will compenstate for device rotations
* TODO compensate for inversed portrait
*/
if (mContext.getResources().getConfiguration().orientation == Configuration.ORIENTATION_LANDSCAPE) {
boolean isNormal = false;
if (roll <= -25)
if (mRoll <= -25)
isNormal = false;
if (roll >= 25)
if (mRoll >= 25)
isNormal = true;
if (isNormal)
azimuth = azimuth - 90;
mAzimuth = mAzimuth - 90;
else
azimuth = azimuth + 90;
mAzimuth = mAzimuth + 90;
}
}
}
mHandler.sendMessage(mHandler.obtainMessage(BEARING, (float) azimuth));
mHandler.sendMessage(mHandler.obtainMessage(BEARING, (float) mAzimuth));
}
@Override
@@ -103,7 +119,6 @@ public class CompassSensor{
mHandler = new Handler(){
@Override
public void handleMessage(Message msg){
// System.out.print((Float) msg.obj);
if(mListener != null)
if(msg.what == BEARING)
mListener.onCompassUpdate((Float) msg.obj);
@@ -142,4 +157,22 @@ public class CompassSensor{
}).start();
}
}
/**
* Updates the Geomagnetic Field Declination based off of the provided location
* @param location last known (lat,lon,altitude), null will reset
* @author ricky barrette
*/
public void setDeclination(Location location){
if (location != null) {
GeomagneticField geomagneticField;
geomagneticField = new GeomagneticField(new Double(location.getLatitude()).floatValue(),
new Double(location.getLongitude()).floatValue(),
new Double(location.getAltitude()).floatValue(),
System.currentTimeMillis());
mDelination = geomagneticField.getDeclination();
} else {
mDelination = 0;
}
}
}