void oquatf_init_axis(quatf* me, const vec3f* vec, float angle)
{
vec3f norm = *vec;
ovec3f_normalize_me(&norm);
me->x = norm.x * sinf(angle / 2.0f);
me->y = norm.y * sinf(angle / 2.0f);
me->z = norm.z * sinf(angle / 2.0f);
me->w = cosf(angle / 2.0f);
}
void ofusion_update(fusion* me, float dt, const vec3f* ang_vel, const vec3f* accel, const vec3f* mag)
{
me->ang_vel = *ang_vel;
me->accel = *accel;
me->raw_mag = *mag;
me->mag = *mag;
vec3f world_accel;
oquatf_get_rotated(&me->orient, accel, &world_accel);
me->iterations += 1;
me->time += dt;
ofq_add(&me->mag_fq, mag);
ofq_add(&me->accel_fq, &world_accel);
ofq_add(&me->ang_vel_fq, ang_vel);
float ang_vel_length = ovec3f_get_length(ang_vel);
if(ang_vel_length > 0.0001f){
vec3f rot_axis =
{{ ang_vel->x / ang_vel_length, ang_vel->y / ang_vel_length, ang_vel->z / ang_vel_length }};
float rot_angle = ang_vel_length * dt;
quatf delta_orient;
oquatf_init_axis(&delta_orient, &rot_axis, rot_angle);
oquatf_mult_me(&me->orient, &delta_orient);
}
// gravity correction
if(me->flags & FF_USE_GRAVITY){
const float gravity_tolerance = .4f, ang_vel_tolerance = .1f;
const float min_tilt_error = 0.05f, max_tilt_error = 0.01f;
// if the device is within tolerance levels, count this as the device is level and add to the counter
// otherwise reset the counter and start over
me->device_level_count =
fabsf(ovec3f_get_length(accel) - 9.82f) < gravity_tolerance * 2.0f && ang_vel_length < ang_vel_tolerance
? me->device_level_count + 1 : 0;
// device has been level for long enough, grab mean from the accelerometer filter queue (last n values)
// and use for correction
if(me->device_level_count > 50){
me->device_level_count = 0;
vec3f accel_mean;
ofq_get_mean(&me->accel_fq, &accel_mean);
if (ovec3f_get_length(&accel_mean) - 9.82f < gravity_tolerance)
{
// Calculate a cross product between what the device
// thinks is up and what gravity indicates is down.
// The values are optimized of what we would get out
// from the cross product.
vec3f tilt = {{accel_mean.z, 0, -accel_mean.x}};
ovec3f_normalize_me(&tilt);
ovec3f_normalize_me(&accel_mean);
vec3f up = {{0, 1.0f, 0}};
float tilt_angle = ovec3f_get_angle(&up, &accel_mean);
if(tilt_angle > max_tilt_error){
me->grav_error_angle = tilt_angle;
me->grav_error_axis = tilt;
}
}
}
// preform gravity tilt correction
if(me->grav_error_angle > min_tilt_error){
float use_angle;
// if less than 2000 iterations have passed, set the up axis to the correction value outright
if(me->iterations < 2000){
use_angle = -me->grav_error_angle;
me->grav_error_angle = 0;
}
// otherwise try to correct
else {
use_angle = -me->grav_gain * me->grav_error_angle * 0.005f * (5.0f * ang_vel_length + 1.0f);
me->grav_error_angle += use_angle;
}
// perform the correction
quatf corr_quat, old_orient;
oquatf_init_axis(&corr_quat, &me->grav_error_axis, use_angle);
old_orient = me->orient;
oquatf_mult(&corr_quat, &old_orient, &me->orient);
}
}
// mitigate drift due to floating point
// inprecision with quat multiplication.
oquatf_normalize_me(&me->orient);
}
