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diff Discovery/Src/motion.c @ 574:01ee21dd311f

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Improved focus detection: In previous version th calibration window was turned into the current one. At all two translations were used causing a jitter. Now the current view is translated into the calibration windows by one step increasing the quality of the prediction. Reworked detection of pitch/sector/scroll events: Sector and scroll uses pitch angles to calculate the view to show. Movment detection uses movment, which may also be out of focus for a short time. To improve all detections these two use cases are now handled individual. Sector and scroll have increased action angle in case yaw and roll stay stable.
author Ideenmodellierer
date Wed, 25 Nov 2020 20:26:01 +0100
parents e3237f580ae9
children beb4d47542f1
line wrap: on
line diff
--- a/Discovery/Src/motion.c	Wed Nov 25 20:19:50 2020 +0100
+++ b/Discovery/Src/motion.c	Wed Nov 25 20:26:01 2020 +0100
@@ -33,7 +33,7 @@
 #define MOTION_DELTA_FALL			3
 
 #define MOTION_DELTA_JITTER_LEVEL	3.0		/* lower values are considered as stable */
-#define MOTION_DELTA_RAISE_LEVEL	6.0	/* Movement causing a significant change detected */
+#define MOTION_DELTA_RAISE_LEVEL	6.0		/* Movement causing a significant change detected */
 #define MOTION_DELTA_FALL_LEVEL		-6.0	/* Movement causing a significant change detected */
 
 #define MOTION_DELTA_HISTORY_SIZE	20		/* Number of history data sets */
@@ -271,10 +271,8 @@
 		/* for scroll detection the motion window is split into 6 sectors => set event accoring to the sector number*/
 		switch(newSector)
 		{
-			case 0:
-			case 1:	PitchEvent = DETECT_POS_PITCH;
+			case 0: PitchEvent = DETECT_POS_PITCH;
 				break;
-			case 5:
 			case 6:	PitchEvent = DETECT_NEG_PITCH;
 				break;
 			default:
@@ -282,7 +280,7 @@
 		}
 		if(PitchEvent != DETECT_NOTHING)
 		{
-			delayscroll = 5;
+			delayscroll = 7;
 		}
 	}
 	else
@@ -299,6 +297,7 @@
 {
 	uint8_t exit = 0;
 	uint8_t step = 0;
+	uint8_t duration = 0;
 	SDeltaHistory test;
 
 	detectionState = DETECT_NOTHING;
@@ -306,6 +305,7 @@
 	{
 		test = GetDeltaHistory(step);
 		step++;
+		duration++;
 		switch (detectionState)
 		{
 				case DETECT_NOTHING: 	if(test.pitch > MOTION_DELTA_STABLE)
@@ -325,6 +325,7 @@
 										{
 											detectionState = DETECT_NEG_MOVE;
 										}
+										duration = 0;
 					break;
 				case DETECT_NEG_MOVE:
 				case DETECT_POS_MOVE:	if(test.pitch <= MOTION_DELTA_JITTER)
@@ -345,8 +346,15 @@
 				case DETECT_RISEBACK:
 				case DETECT_FALLBACK:	if(test.pitch == MOTION_DELTA_STABLE)
 										{
-											detectionState++;
-											exit = 1;
+											if(duration > 5)	/* avoid detection triggered by short moves */
+											{
+												detectionState++;
+												exit = 1;
+											}
+											else
+											{
+												detectionState = DETECT_NOTHING;
+											}
 										}
 									break;
 				default:
@@ -445,6 +453,9 @@
 
 float checkViewport(float roll, float pitch, float yaw)
 {
+	static float freezeRoll = 0;
+	static float freezeYaw = 0;
+
 	uint8_t retval = 0;
 	float angleYaw;
 	float anglePitch;
@@ -459,11 +470,17 @@
 	SCoord axis_2;
 	SCoord curVec;
 	SCoord resultVec;
+	SDeltaHistory test;
 
 	SSettings* pSettings = settingsGetPointer();
 
 	/* calculate base vector taking calibration delta into account yaw (heading) */
 	float compYaw = yaw + pSettings->viewYaw;
+
+	compYaw = 360.0 - yaw; 				/* turn to 0° */
+	compYaw +=  pSettings->viewYaw; 	/* consider calib yaw value */
+	compYaw += yaw;
+
 	if (compYaw < 0.0)
 	{
 		compYaw = 360.0 + compYaw;
@@ -471,10 +488,13 @@
 
 	if (compYaw > 360.0)
 	{
-		compYaw = compYaw - 360.0;;
+		compYaw = compYaw - 360.0;
 	}
-
-	angleYaw = compYaw * M_PI / 180.0;
+	if (compYaw > 360.0)
+	{
+		compYaw = compYaw - 360.0;
+	}
+	angleYaw = pSettings->viewYaw * M_PI / 180.0;
 	anglePitch = pSettings->viewPitch * M_PI / 180.0;
 	angleRoll = pSettings->viewRoll * M_PI / 180.0;
 
@@ -509,7 +529,7 @@
     }
     else
     {
-    	angleYaw = yaw * M_PI / 180.0;
+    	angleYaw = compYaw * M_PI / 180.0;
     	anglePitch = pitch * M_PI / 180.0;
     	angleRoll = roll * M_PI / 180.0;
     	curVec.x = 0;
@@ -566,20 +586,43 @@
 			}
 			focusCnt++;
 		}
-		if(focusCnt == 10)
+		if((focusCnt == 10) && (inFocus == 0))
 		{
 			inFocus = 1;
+			freezeRoll = roll;
+			freezeYaw = yaw;
 		}
 	}
 	else
 	{
-		if(focusCnt)
+		if(focusCnt >= 5)												/* Reset focus faster then setting focus */
 		{
+			if(pSettings->MotionDetection != MOTION_DETECT_MOVE)		/* only apply extended focus for methods using absolute pitch values */
+			{
+				test = GetDeltaHistory(0);
+				if((test.yaw == MOTION_DELTA_STABLE) && (test.roll == MOTION_DELTA_STABLE)) 
+				{
+					if((fabsf(freezeRoll - roll) < MOTION_DELTA_JITTER_LEVEL) && (fabsf(freezeYaw - yaw) < MOTION_DELTA_JITTER_LEVEL))
+					{
+						focusCnt++;
+					}
+				}
+				else
+				{
+					if(freezeRoll != 0.0)
+					{
+						focusCnt = 1;
+					}
+				}
+			}
 			focusCnt--;
 		}
 		else
 		{
+			focusCnt = 0;
 			inFocus = 0;
+			freezeRoll = 0;
+			freezeYaw = 0;
 		}
 	}
     return distance;