Mercurial > public > ostc4
annotate Discovery/Src/motion.c @ 619:8fa2de4414a8
Added t3 quick menu for marker synchronisation:
By selecting the "Check" optin of the quickmenu available in the T3_Profile view only, the live profile data may be syncronised with the marker data stored in the log profile. The implementation does not mentain a history storage. In case all markes have been checked the next check will cause the live data to be shown. another check will then map the profile again to the first marker.
To support this functionality menu infra structures have been added to the menu handling functions.
| author | Ideenmodellierer |
|---|---|
| date | Wed, 27 Jan 2021 22:10:11 +0100 |
| parents | 96af74455420 |
| children | 6826731ff2be |
| rev | line source |
|---|---|
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1 /* |
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2 * motion.c |
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3 * |
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4 * Created on: 20.05.2019 |
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5 * Author: Thorsten Sonntag |
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6 */ |
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7 |
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8 #include <stdint.h> |
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9 #include <string.h> |
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10 #include <stdlib.h> |
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11 #include <math.h> |
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12 #include "motion.h" |
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13 #include "data_central.h" |
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14 #include "t7.h" |
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15 #include "t3.h" |
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16 #include "settings.h" |
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17 #include "base.h" |
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18 |
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19 #define STABLE_STATE_COUNT 2 /* number of count to declare a state as stable (at the moment based on 100ms) */ |
| 363 | 20 #define STABLE_STATE_TIMEOUT 5 /* Detection shall be aborted if a movement state is stable for more than 500ms */ |
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21 |
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22 #define SECTOR_WINDOW 30.0 /* Pitch window which is used for custom view projection */ |
| 381 | 23 #define SECTOR_WINDOW_MAX 120.0 /* Pitch window which will be greater than the divers field of view */ |
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24 #define SECTOR_HYSTERY 2 /* Additional offset to avoid fast changing displays */ |
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25 #define SECTOR_BORDER 400.0 /* Define a value which is out of limit to avoid not wanted key events */ |
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26 #define SECTOR_FILTER 10 /* Define speed for calculated angle to follow real value */ |
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27 |
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28 #define SECTOR_MAX 24 /* maximum number of sectors */ |
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29 #define SECTOR_SCROLL 7 /* number of sectors used for scroll detection */ |
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30 #define SECTOR_MAX_CNT 5 /* max number of views used for sector control */ |
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31 |
| 551 | 32 #define MOTION_DELTA_STABLE 0 |
| 33 #define MOTION_DELTA_JITTER 1 | |
| 34 #define MOTION_DELTA_RAISE 2 | |
| 35 #define MOTION_DELTA_FALL 3 | |
| 36 | |
| 37 #define MOTION_DELTA_JITTER_LEVEL 3.0 /* lower values are considered as stable */ | |
| 574 | 38 #define MOTION_DELTA_RAISE_LEVEL 6.0 /* Movement causing a significant change detected */ |
| 551 | 39 #define MOTION_DELTA_FALL_LEVEL -6.0 /* Movement causing a significant change detected */ |
| 40 | |
| 41 #define MOTION_DELTA_HISTORY_SIZE 20 /* Number of history data sets */ | |
| 42 | |
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43 detectionState_t detectionState = DETECT_NOTHING; |
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44 SSector sectorDetection; |
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45 |
| 551 | 46 static uint8_t motionDeltaHistory[3][MOTION_DELTA_HISTORY_SIZE]; /* Change history of roll, pitch and yaw */ |
| 47 static uint8_t motionDeltaHistoryIdx; /* Current index of history data */ | |
| 48 | |
| 49 static uint8_t focusCnt = 0; | |
| 50 static uint8_t inFocus = 0; | |
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51 static uint8_t sectorMap[SECTOR_MAX_CNT]; |
| 551 | 52 |
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53 static uint8_t suspendMotionDetectionSec = 0; |
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54 |
| 551 | 55 void resetMotionDeltaHistory() |
| 56 { | |
| 57 motionDeltaHistoryIdx = 0; | |
| 58 memset(motionDeltaHistory, 0, sizeof(motionDeltaHistory)); | |
| 59 } | |
| 60 | |
| 61 void evaluateMotionDelta(float roll, float pitch, float yaw) | |
| 62 { | |
| 63 static float lastValue[3] = {0.0,0.0,0.0}; | |
| 64 uint8_t nextIndex = motionDeltaHistoryIdx + 1; | |
| 65 uint8_t axis; | |
| 66 float curValue; | |
| 67 | |
| 68 if(nextIndex == MOTION_DELTA_HISTORY_SIZE) | |
| 69 { | |
| 70 nextIndex = 0; | |
| 71 } | |
| 72 for(axis=0; axis < 3; axis++) | |
| 73 { | |
| 74 switch(axis) | |
| 75 { | |
| 76 case MOTION_HISTORY_ROLL: curValue = roll; | |
| 77 break; | |
| 78 case MOTION_HISTORY_PITCH: curValue = pitch; | |
| 79 break; | |
| 80 default: | |
| 81 case MOTION_HISTORY_YAW: if((yaw < 90) && (lastValue[MOTION_HISTORY_YAW] > 270.0)) /* transition 360 => 0 */ | |
| 82 { | |
| 83 lastValue[MOTION_HISTORY_YAW] -= 360; | |
| 84 } | |
| 85 else if((yaw > 270) && (lastValue[MOTION_HISTORY_YAW] < 90.0)) /* transition 0 => 360 */ | |
| 86 { | |
| 87 lastValue[MOTION_HISTORY_YAW] += 360; | |
| 88 } | |
| 89 curValue = yaw; | |
| 90 break; | |
| 91 } | |
| 92 if(curValue - lastValue[axis] > MOTION_DELTA_RAISE_LEVEL) | |
| 93 { | |
| 94 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_RAISE; | |
| 95 } | |
| 96 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_RAISE_LEVEL) | |
| 97 { | |
| 98 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_JITTER; | |
| 99 } | |
| 100 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_JITTER_LEVEL) | |
| 101 { | |
| 102 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_STABLE; | |
| 103 } | |
| 104 if(curValue - lastValue[axis] < MOTION_DELTA_FALL_LEVEL) | |
| 105 { | |
| 106 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_FALL; | |
| 107 } | |
| 108 lastValue[axis] = curValue; | |
| 109 } | |
| 110 motionDeltaHistoryIdx = nextIndex; | |
| 111 } | |
| 112 | |
| 113 SDeltaHistory GetDeltaHistory(uint8_t stepback) | |
| 114 { | |
| 578 | 115 uint8_t loop; |
| 551 | 116 uint8_t index = motionDeltaHistoryIdx; |
| 117 | |
| 118 SDeltaHistory result = {0,0,0}; | |
| 119 | |
| 578 | 120 stepback++; /* motionDeltaHistoryIdx is pointing to future entry => step back one to get the latest */ |
| 121 loop = stepback; | |
| 551 | 122 if(stepback < MOTION_DELTA_HISTORY_SIZE) |
| 123 { | |
| 124 while(loop != 0) /* find requested entry */ | |
| 125 { | |
| 126 loop--; | |
| 127 index--; | |
| 128 if(index == 0) | |
| 129 { | |
| 130 index = MOTION_DELTA_HISTORY_SIZE - 1; | |
| 131 } | |
| 132 } | |
| 133 result.roll = motionDeltaHistory[MOTION_HISTORY_ROLL][index]; | |
| 134 result.pitch = motionDeltaHistory[MOTION_HISTORY_PITCH][index]; | |
| 135 result.yaw = motionDeltaHistory[MOTION_HISTORY_YAW][index]; | |
| 136 } | |
| 137 return result; | |
| 138 } | |
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139 |
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140 uint8_t GetSectorForPitch(float pitch) |
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141 { |
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142 static uint8_t lastsector = 0; |
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143 float newPitch; |
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144 uint8_t sector = 0; |
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145 |
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146 newPitch = pitch + sectorDetection.offset + sectorDetection.center; /* do not use negative values and consider offset to center position */ |
| 381 | 147 if (newPitch < 0.0) /* clip value */ |
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148 { |
| 381 | 149 newPitch = 0.0; |
| 150 } | |
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151 if (newPitch > sectorDetection.window) /* clip value */ |
| 381 | 152 { |
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153 newPitch = sectorDetection.window; |
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154 } |
| 381 | 155 |
| 156 /* switch to other sector? */ | |
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157 if((newPitch > sectorDetection.upperborder) || (newPitch <= sectorDetection.lowerborder)) |
| 381 | 158 { |
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159 sector = (uint16_t) newPitch / sectorDetection.size; |
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160 sectorDetection.lowerborder = sector * sectorDetection.size - SECTOR_HYSTERY; |
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161 sectorDetection.upperborder = (sector + 1) * sectorDetection.size + SECTOR_HYSTERY; |
| 381 | 162 lastsector = sector; |
| 163 } | |
| 164 | |
| 165 return lastsector; | |
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166 } |
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167 |
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168 void DefinePitchSectors(float centerPitch,uint8_t numOfSectors) |
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169 { |
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170 if(numOfSectors == CUSTOMER_DEFINED_VIEWS) |
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171 { |
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172 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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173 { |
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174 sectorDetection.count = t3_GetEnabled_customviews(); |
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175 } |
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176 else |
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177 { |
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178 sectorDetection.count = t7_GetEnabled_customviews(); |
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179 } |
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180 if(sectorDetection.count > SECTOR_MAX_CNT) |
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181 { |
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182 sectorDetection.count = SECTOR_MAX_CNT; /* more views are hard to manually control */ |
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183 } |
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184 } |
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185 else |
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186 if(numOfSectors != CUSTOMER_KEEP_LAST_SECTORS) |
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187 { |
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188 sectorDetection.count = numOfSectors; |
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189 } |
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190 |
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191 if(sectorDetection.count == SECTOR_MAX) |
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192 { |
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193 sectorDetection.window = SECTOR_WINDOW_MAX; |
| 381 | 194 } |
| 195 else | |
| 196 { | |
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197 sectorDetection.window = SECTOR_WINDOW; |
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198 } |
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199 |
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200 sectorDetection.offset = (centerPitch - (sectorDetection.window / 2)) * -1.0; |
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201 sectorDetection.size = sectorDetection.window / sectorDetection.count; |
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202 sectorDetection.center = 0; |
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203 |
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204 /* reset border values */ |
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205 sectorDetection.lowerborder = SECTOR_BORDER; |
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206 sectorDetection.upperborder = SECTOR_BORDER * -1.0; |
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207 /* get the current sector */ |
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208 sectorDetection.current = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
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209 sectorDetection.target = sectorDetection.current; |
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210 /* do a small adjustment to center pitch to make sure the actual pitch is in the center of the current sector */ |
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211 sectorDetection.center = (sectorDetection.upperborder) - ((sectorDetection.size + 2 *SECTOR_HYSTERY) / 2.0) - (centerPitch + sectorDetection.offset); |
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212 |
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213 } |
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214 |
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215 |
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216 uint8_t GetCVForSector(uint8_t selSector) |
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217 { |
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218 if(selSector < sectorDetection.count) |
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219 { |
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220 return sectorMap[selSector]; |
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221 } |
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222 else |
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223 { |
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224 return 0; |
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225 } |
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226 } |
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227 void MapCVToSector() |
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228 { |
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229 uint8_t centerView = 0; |
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230 |
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231 memset(sectorMap, 0, sizeof(sectorMap)); |
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232 |
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233 switch(sectorDetection.count) |
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234 { |
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235 case 1: centerView = 0; break; |
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236 case 2: centerView = 0; break; |
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237 case 3: centerView = 1; break; |
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238 case 4: centerView = 1; break; |
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239 case 5: centerView = 2; break; |
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240 default: centerView = sectorDetection.count / 2 - 1; |
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241 break; |
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242 } |
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243 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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244 { |
| 595 | 245 t3_set_customview_to_primary(); |
| 246 sectorMap[centerView] = t3_change_customview(ACTION_END); | |
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247 } |
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248 else |
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249 { |
| 595 | 250 t7_set_customview_to_primary(); |
| 251 sectorMap[centerView] = t7_change_customview(ACTION_END); | |
| 252 | |
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253 } |
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254 |
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255 centerView++; |
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256 while(sectorMap[centerView] == 0) |
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257 { |
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258 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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259 { |
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260 sectorMap[centerView] = t3_change_customview(ACTION_BUTTON_ENTER); |
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261 } |
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262 else |
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263 { |
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264 sectorMap[centerView] = t7_change_customview(ACTION_BUTTON_ENTER); |
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265 } |
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266 centerView++; |
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267 if(centerView == sectorDetection.count) |
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268 { |
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269 centerView = 0; |
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270 } |
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271 } |
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272 |
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273 } |
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274 |
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275 void InitMotionDetection(void) |
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276 { |
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277 sectorDetection.target = 0; |
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278 sectorDetection.current = 0; |
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279 sectorDetection.size = 0; |
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280 sectorDetection.count = 0; |
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281 |
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282 switch(settingsGetPointer()->MotionDetection) |
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283 { |
| 551 | 284 case MOTION_DETECT_SECTOR: DefinePitchSectors(settingsGetPointer()->viewPitch,CUSTOMER_DEFINED_VIEWS); |
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285 MapCVToSector(); |
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286 break; |
| 551 | 287 case MOTION_DETECT_MOVE: DefinePitchSectors(settingsGetPointer()->viewPitch,SECTOR_MAX); |
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288 break; |
| 551 | 289 case MOTION_DETECT_SCROLL: DefinePitchSectors(settingsGetPointer()->viewPitch,SECTOR_SCROLL); |
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290 break; |
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291 default: |
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292 break; |
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293 } |
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294 |
| 551 | 295 resetMotionDeltaHistory(); |
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296 } |
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297 |
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298 /* Map the current pitch value to a sector and create button event in case the sector is left */ |
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299 detectionState_t detectSectorButtonEvent(float curPitch) |
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300 { |
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301 uint8_t newTargetSector; |
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302 |
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303 newTargetSector = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
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304 |
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305 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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306 { |
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307 t3_select_customview(GetCVForSector(newTargetSector)); |
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308 } |
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309 else |
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310 { |
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311 t7_select_customview(GetCVForSector(newTargetSector)); |
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312 } |
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313 |
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314 return DETECT_NOTHING; |
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315 } |
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316 |
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317 /* Check if pitch is not in center position and trigger a button action if needed */ |
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318 detectionState_t detectScrollButtonEvent(float curPitch) |
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319 { |
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320 static uint8_t delayscroll = 0; /* slow down the number of scroll events */ |
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370
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321 |
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322 uint8_t PitchEvent = DETECT_NOTHING; |
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323 uint8_t newSector; |
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324 |
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325 if(delayscroll == 0) |
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326 { |
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327 newSector = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
| 551 | 328 /* for scroll detection the motion window is split into 6 sectors => set event accoring to the sector number*/ |
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329 switch(newSector) |
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330 { |
| 574 | 331 case 0: PitchEvent = DETECT_POS_PITCH; |
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332 break; |
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333 case 6: PitchEvent = DETECT_NEG_PITCH; |
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334 break; |
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335 default: |
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336 break; |
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337 } |
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338 if(PitchEvent != DETECT_NOTHING) |
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339 { |
| 574 | 340 delayscroll = 7; |
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341 } |
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342 } |
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343 else |
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344 { |
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345 delayscroll--; |
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346 } |
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347 return PitchEvent; |
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348 } |
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349 |
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350 |
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351 /* Detect if user is generating an pitch including return to starting position */ |
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352 /* This is done by feeding the past movements value per value into a state machine */ |
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353 detectionState_t detectPitch(float currentPitch) |
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354 { |
| 578 | 355 static int8_t lastStart = 0; |
| 551 | 356 uint8_t exit = 0; |
| 578 | 357 int8_t step = 0; |
| 574 | 358 uint8_t duration = 0; |
| 551 | 359 SDeltaHistory test; |
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360 |
| 578 | 361 if(lastStart < 0) |
| 362 { | |
| 363 detectionState = DETECT_NOTHING; | |
| 364 lastStart = 0; | |
| 365 } | |
| 366 else | |
| 367 { | |
| 368 detectionState = DETECT_START; | |
| 369 } | |
| 370 step = lastStart; | |
| 371 do | |
| 551 | 372 { |
| 373 test = GetDeltaHistory(step); | |
| 574 | 374 duration++; |
| 551 | 375 switch (detectionState) |
| 376 { | |
| 377 case DETECT_NOTHING: if(test.pitch > MOTION_DELTA_STABLE) | |
| 378 { | |
| 379 exit = 1; | |
| 578 | 380 lastStart = -2; |
| 551 | 381 } |
| 382 else | |
| 383 { | |
| 384 detectionState = DETECT_START; | |
| 578 | 385 lastStart = -1; |
| 551 | 386 } |
| 387 break; | |
| 388 case DETECT_START: if(test.pitch == MOTION_DELTA_RAISE) | |
| 389 { | |
| 390 detectionState = DETECT_POS_MOVE; | |
| 578 | 391 lastStart = step; |
| 551 | 392 } |
| 578 | 393 else |
| 551 | 394 if(test.pitch == MOTION_DELTA_FALL) |
| 395 { | |
| 396 detectionState = DETECT_NEG_MOVE; | |
| 578 | 397 lastStart = step; |
| 398 } | |
| 399 else | |
| 400 { | |
| 401 lastStart = -1; | |
| 551 | 402 } |
| 574 | 403 duration = 0; |
| 551 | 404 break; |
| 578 | 405 case DETECT_NEG_MOVE: if((test.pitch <= MOTION_DELTA_JITTER) || (test.pitch == MOTION_DELTA_RAISE)) |
| 406 { | |
| 407 detectionState++; | |
| 408 } | |
| 409 break; | |
| 410 case DETECT_POS_MOVE: if((test.pitch <= MOTION_DELTA_JITTER) || (test.pitch == MOTION_DELTA_FALL)) | |
| 551 | 411 { |
| 412 detectionState++; | |
| 413 } | |
| 414 break; | |
| 415 case DETECT_MAXIMA: if(test.pitch == MOTION_DELTA_FALL) | |
| 416 { | |
| 417 detectionState = DETECT_FALLBACK; | |
| 418 } | |
| 419 break; | |
| 420 case DETECT_MINIMA: if(test.pitch == MOTION_DELTA_RAISE) | |
| 421 { | |
| 422 detectionState = DETECT_RISEBACK; | |
| 423 } | |
| 424 break; | |
| 425 case DETECT_RISEBACK: | |
| 426 case DETECT_FALLBACK: if(test.pitch == MOTION_DELTA_STABLE) | |
| 427 { | |
| 578 | 428 if(duration > 4) /* avoid detection triggered by short moves */ |
| 574 | 429 { |
| 430 detectionState++; | |
| 431 } | |
| 578 | 432 exit = 1; |
| 433 lastStart = -2; | |
| 551 | 434 } |
| 435 break; | |
| 436 default: | |
| 437 detectionState = DETECT_NOTHING; | |
| 438 exit = 1; | |
| 439 break; | |
| 440 } | |
| 578 | 441 step--; |
| 442 } while((step >= 0) && (!exit)); | |
| 443 | |
| 444 if((lastStart < MOTION_DELTA_HISTORY_SIZE)) | |
| 445 { | |
| 446 lastStart++; /* prepare value for next iteration (history index will be increased) */ | |
| 447 } | |
| 448 else | |
| 449 { | |
| 450 lastStart = -1; | |
| 551 | 451 } |
| 452 if((detectionState != DETECT_POS_PITCH) && (detectionState != DETECT_NEG_PITCH)) /* nothing found */ | |
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453 { |
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454 detectionState = DETECT_NOTHING; |
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455 } |
| 551 | 456 else /* dont detect the same event twice */ |
| 457 { | |
| 458 resetMotionDeltaHistory(); | |
| 459 } | |
| 460 return detectionState; | |
| 461 } | |
| 363 | 462 |
| 551 | 463 void anglesToCoord(float roll, float pitch, float yaw, SCoord *pCoord) |
| 464 { | |
| 465 pCoord->x = ((cosf(yaw) * cosf(pitch)) * pCoord->x + (cosf(yaw)*sinf(pitch)*sinf(roll) - (sinf(yaw)* cosf(roll))) * pCoord->y + (cosf(yaw)*sinf(pitch)*cosf(roll) + sinf(yaw)*sinf(roll)) * pCoord->z); | |
| 466 pCoord->y = ((sinf(yaw) * cosf(pitch)) * pCoord->x + (sinf(yaw)*sinf(pitch)*sinf(roll) + cosf(yaw) * cosf(roll)) * pCoord->y + ( sinf(yaw) * sinf(pitch) * cosf(roll) - cosf(yaw) * sinf(roll))* pCoord->z); | |
| 467 pCoord->z = ((-1*sinf(pitch)) * pCoord->x + (cosf(pitch) *sinf(roll)) * pCoord->y + (cosf(pitch) * cosf(roll))* pCoord->z); | |
| 468 } | |
| 469 | |
| 470 SCoord CoordAdd(SCoord cA, SCoord cB) | |
| 471 { | |
| 472 SCoord result; | |
| 473 | |
| 474 result.x = cA.x + cB.x; | |
| 475 result.y = cA.y + cB.y; | |
| 476 result.z = cA.z + cB.z; | |
| 477 return result; | |
| 478 } | |
| 479 | |
| 480 SCoord CoordSub(SCoord cA, SCoord cB) | |
| 481 { | |
| 482 SCoord result; | |
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483 |
| 551 | 484 result.x = cA.x - cB.x; |
| 485 result.y = cA.y - cB.y; | |
| 486 result.z = cA.z - cB.z; | |
| 487 return result; | |
| 488 } | |
| 489 | |
| 490 SCoord CoordCross(SCoord cA, SCoord cB) | |
| 491 { | |
| 492 SCoord result; | |
| 493 | |
| 494 result.x = (cA.y * cB.z) - (cA.z * cB.y); | |
| 495 result.y = (cA.z * cB.x) - (cA.x * cB.z); | |
| 496 result.z = (cA.x * cB.y) - (cA.y * cB.x); | |
| 497 | |
| 498 return result; | |
| 499 | |
| 500 } | |
| 501 | |
| 502 SCoord CoordMulF(SCoord op, float factor) | |
| 503 { | |
| 504 SCoord result; | |
| 505 result.x = (op.x * factor); | |
| 506 result.y = (op.y * factor); | |
| 507 result.z = (op.z * factor); | |
| 508 | |
| 509 return result; | |
| 510 } | |
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511 |
| 551 | 512 SCoord CoordDivF(SCoord op, float factor) |
| 513 { | |
| 514 SCoord result; | |
| 515 result.x = (op.x / factor); | |
| 516 result.y = (op.y / factor); | |
| 517 result.z = (op.z / factor); | |
| 518 | |
| 519 return result; | |
| 520 } | |
| 521 | |
| 522 float CoordDot(SCoord cA, SCoord cB) | |
| 523 { | |
| 524 float result; | |
| 525 | |
| 526 result = cA.x * cB.x + cA.y * cB.y + cB.z*cA.z; | |
| 527 return result; | |
| 528 } | |
| 529 | |
| 530 void calibrateViewport(float roll, float pitch, float yaw) | |
| 531 { | |
| 532 SSettings* pSettings = settingsGetPointer(); | |
| 533 | |
| 534 pSettings->viewPitch = pitch; | |
| 535 pSettings->viewRoll = roll; | |
| 536 pSettings->viewYaw = yaw; | |
| 537 } | |
| 538 | |
| 539 | |
| 540 float checkViewport(float roll, float pitch, float yaw) | |
| 541 { | |
| 574 | 542 static float freezeRoll = 0; |
| 543 static float freezeYaw = 0; | |
| 544 | |
| 551 | 545 uint8_t retval = 0; |
| 546 float angleYaw; | |
| 547 float anglePitch; | |
| 548 float angleRoll; | |
| 549 float distance = 0; | |
| 550 float _a, _b; | |
| 551 SCoord u,v,n; | |
| 552 float r; | |
| 553 | |
| 554 SCoord refVec; | |
| 555 SCoord axis_1; | |
| 556 SCoord axis_2; | |
| 557 SCoord curVec; | |
| 558 SCoord resultVec; | |
| 574 | 559 SDeltaHistory test; |
| 551 | 560 |
| 561 SSettings* pSettings = settingsGetPointer(); | |
| 562 | |
| 563 /* calculate base vector taking calibration delta into account yaw (heading) */ | |
| 564 float compYaw = yaw + pSettings->viewYaw; | |
| 574 | 565 |
| 566 compYaw = 360.0 - yaw; /* turn to 0° */ | |
| 567 compYaw += pSettings->viewYaw; /* consider calib yaw value */ | |
| 568 compYaw += yaw; | |
| 569 | |
| 551 | 570 if (compYaw < 0.0) |
| 571 { | |
| 572 compYaw = 360.0 + compYaw; | |
| 381 | 573 } |
| 551 | 574 |
| 575 if (compYaw > 360.0) | |
| 381 | 576 { |
| 574 | 577 compYaw = compYaw - 360.0; |
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578 } |
| 574 | 579 if (compYaw > 360.0) |
| 580 { | |
| 581 compYaw = compYaw - 360.0; | |
| 582 } | |
| 583 angleYaw = pSettings->viewYaw * M_PI / 180.0; | |
| 551 | 584 anglePitch = pSettings->viewPitch * M_PI / 180.0; |
| 585 angleRoll = pSettings->viewRoll * M_PI / 180.0; | |
| 586 | |
| 587 refVec.x = 0; | |
| 588 refVec.y = 0; | |
| 589 refVec.z = 1.0; | |
| 590 | |
| 591 anglesToCoord(angleRoll,anglePitch,angleYaw, &refVec); | |
| 592 | |
| 593 anglePitch = pitch * M_PI / 180.0; | |
| 594 angleRoll = roll * M_PI / 180.0; | |
| 595 angleYaw = yaw * M_PI / 180.0; | |
| 596 | |
| 597 /* assume x = 0 and y = 1 => find matching vector so axis_1 is 90° to axis_2 */ | |
| 598 axis_1.x = 0; | |
| 599 if(refVec.y >=0) | |
| 600 { | |
| 601 axis_2.y = 1; /* => Spawn y == refVec y */ | |
| 602 } | |
| 603 else axis_1.y = -1; | |
| 604 axis_1.z = -1.0 * refVec.y / refVec.z; | |
| 605 axis_2 = CoordCross(refVec, axis_1); /* Cross is 90° to refVec and Spawn as well => Plane Spawn / cross */ | |
| 606 | |
| 607 /* check if detection plane is correct */ | |
| 608 u = CoordSub(axis_1,refVec); | |
| 609 v = CoordSub(axis_2,refVec); | |
| 610 n = CoordCross(u,v); | |
| 611 | |
| 612 if((fabsf(n.x) <= 0.0001) && (fabsf(n.y) <= 0.0001) && (fabsf(n.z) <= 0.0001)) | |
| 613 { | |
| 614 retval = 2; | |
| 615 } | |
| 616 else | |
| 617 { | |
| 574 | 618 angleYaw = compYaw * M_PI / 180.0; |
| 551 | 619 anglePitch = pitch * M_PI / 180.0; |
| 620 angleRoll = roll * M_PI / 180.0; | |
| 621 curVec.x = 0; | |
| 622 curVec.y = 0; | |
| 623 curVec.z = 1.0; | |
| 624 anglesToCoord(angleRoll,anglePitch,angleYaw, &curVec); | |
| 625 | |
| 626 _a = CoordDot(curVec,n); | |
| 627 _b = CoordDot(refVec,n); | |
| 628 | |
| 629 if(_b>=(-0.0001)&&_b<=0.0001) /* Check if view port is parallel (no matchpoint) */ | |
| 630 { | |
| 631 retval = 3; | |
| 632 } | |
| 633 else | |
| 634 { | |
| 635 r=_a/_b; | |
| 636 if(r<0.00||r>1.40) /* are we looking into wrong direction? */ | |
| 637 { | |
| 638 retval = 4; | |
| 639 } | |
| 640 } | |
| 641 distance = retval * 1.0; /* just for debugging */ | |
| 642 if(retval == 0) | |
| 643 { | |
| 644 | |
| 645 /* start calculating the matchpoint */ | |
| 646 curVec = CoordMulF(curVec,r); | |
| 647 resultVec = CoordSub(refVec,curVec); | |
| 648 | |
| 649 /* calculate the distance between reference and actual vector */ | |
| 650 resultVec.x = resultVec.x * resultVec.x; | |
| 651 resultVec.y = resultVec.y * resultVec.y; | |
| 652 resultVec.z = resultVec.z * resultVec.z; | |
| 653 | |
| 654 if((resultVec.x == 0) && (resultVec.y == 0) && (resultVec.z == 0)) | |
| 655 { | |
| 656 distance = 0.0; | |
| 657 } | |
| 658 else | |
| 659 { | |
| 660 distance = sqrtf((resultVec.x + resultVec.y + resultVec.z)); | |
| 661 } | |
| 662 } | |
| 663 } | |
| 664 | |
| 665 if(distance < 0.5) /* handle focus counter to avoid fast in/out focus changes */ | |
| 666 { | |
| 667 if(focusCnt < 10) | |
| 668 { | |
| 669 if((focusCnt == 9) && (inFocus == 0)) /* we will get into focus */ | |
| 670 { | |
| 671 resetMotionDeltaHistory(); | |
| 672 } | |
| 673 focusCnt++; | |
| 674 } | |
| 574 | 675 if((focusCnt == 10) && (inFocus == 0)) |
| 551 | 676 { |
| 677 inFocus = 1; | |
| 574 | 678 freezeRoll = roll; |
| 679 freezeYaw = yaw; | |
| 551 | 680 } |
| 681 } | |
| 682 else | |
| 683 { | |
| 574 | 684 if(focusCnt >= 5) /* Reset focus faster then setting focus */ |
| 551 | 685 { |
| 574 | 686 if(pSettings->MotionDetection != MOTION_DETECT_MOVE) /* only apply extended focus for methods using absolute pitch values */ |
| 687 { | |
| 688 test = GetDeltaHistory(0); | |
| 689 if((test.yaw == MOTION_DELTA_STABLE) && (test.roll == MOTION_DELTA_STABLE)) | |
| 690 { | |
| 691 if((fabsf(freezeRoll - roll) < MOTION_DELTA_JITTER_LEVEL) && (fabsf(freezeYaw - yaw) < MOTION_DELTA_JITTER_LEVEL)) | |
| 692 { | |
| 693 focusCnt++; | |
| 694 } | |
| 695 } | |
| 696 else | |
| 697 { | |
| 698 if(freezeRoll != 0.0) | |
| 699 { | |
| 700 focusCnt = 1; | |
| 701 } | |
| 702 } | |
| 703 } | |
| 551 | 704 focusCnt--; |
| 705 } | |
| 706 else | |
| 707 { | |
| 574 | 708 focusCnt = 0; |
| 551 | 709 inFocus = 0; |
| 574 | 710 freezeRoll = 0; |
| 711 freezeYaw = 0; | |
| 551 | 712 } |
| 713 } | |
| 714 return distance; | |
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715 } |
| 551 | 716 uint8_t viewInFocus(void) |
| 717 { | |
| 718 return inFocus; | |
| 719 } | |
| 720 void resetFocusState(void) | |
| 721 { | |
| 722 inFocus = 0; | |
| 723 } | |
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724 |
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725 void suspendMotionDetection(uint8_t seconds) |
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726 { |
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727 suspendMotionDetectionSec = seconds * 10; /* detection function is called every 100ms */ |
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728 } |
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729 |
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730 void HandleMotionDetection(void) |
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731 { |
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732 detectionState_t pitchstate = DETECT_NOTHING; |
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618
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733 static uint8_t wasInFocus = 0; |
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734 |
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735 evaluateMotionDelta(stateUsed->lifeData.compass_roll, stateUsed->lifeData.compass_pitch, stateUsed->lifeData.compass_heading); |
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736 checkViewport(stateUsed->lifeData.compass_roll, stateUsed->lifeData.compass_pitch, stateUsed->lifeData.compass_heading); |
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737 |
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738 if(viewInFocus()) |
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739 { |
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740 wasInFocus = 1; |
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741 set_Backlight_Boost(settingsGetPointer()->viewPortMode & 0x03); |
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742 |
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743 if(suspendMotionDetectionSec == 0) /* suspend detection while diver is manually operating the OSTC */ |
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744 { |
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745 switch(settingsGetPointer()->MotionDetection) |
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916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
746 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
747 case MOTION_DETECT_MOVE: pitchstate = detectPitch(stateRealGetPointer()->lifeData.compass_pitch); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
748 break; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
749 case MOTION_DETECT_SECTOR: pitchstate = detectSectorButtonEvent(stateRealGetPointer()->lifeData.compass_pitch); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
750 break; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
751 case MOTION_DETECT_SCROLL: pitchstate = detectScrollButtonEvent(stateRealGetPointer()->lifeData.compass_pitch); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
752 break; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
753 default: |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
754 pitchstate = DETECT_NOTHING; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
755 break; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
756 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
757 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
758 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
759 if(DETECT_NEG_PITCH == pitchstate) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
760 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
761 StoreButtonAction((uint8_t)ACTION_PITCH_NEG); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
762 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
763 if(DETECT_POS_PITCH == pitchstate) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
764 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
765 StoreButtonAction((uint8_t)ACTION_PITCH_POS); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
766 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
767 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
768 else |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
769 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
770 if(wasInFocus) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
771 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
772 wasInFocus = 0; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
773 if(suspendMotionDetectionSec == 0) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
774 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
775 if(settingsGetPointer()->design == 7) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
776 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
777 t7_set_customview_to_primary(); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
778 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
779 else |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
780 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
781 t3_set_customview_to_primary(); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
782 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
783 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
784 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
785 set_Backlight_Boost(0); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
786 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
787 if(suspendMotionDetectionSec != 0) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
788 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
789 suspendMotionDetectionSec--; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
790 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
791 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
792 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
793 |