GravitySensor::GravitySensor(sensor_t const* list, size_t count)
: mSensorDevice(SensorDevice::getInstance()),
mEnabled(false), mAccTime(0),
- mLowPass(M_SQRT1_2, 1),
+ mLowPass(M_SQRT1_2, 1.5f),
mX(mLowPass), mY(mLowPass), mZ(mLowPass)
{
double mAccTime;
SecondOrderLowPassFilter mLowPass;
- BiquadFilter mX, mY, mZ;
+ CascadedBiquadFilter mX, mY, mZ;
public:
GravitySensor(sensor_t const* list, size_t count);
}
// ---------------------------------------------------------------------------
+
+CascadedBiquadFilter::CascadedBiquadFilter(const SecondOrderLowPassFilter& s)
+ : mA(s), mB(s)
+{
+}
+
+float CascadedBiquadFilter::init(float x)
+{
+ mA.init(x);
+ mB.init(x);
+ return x;
+}
+
+float CascadedBiquadFilter::operator()(float x)
+{
+ return mB(mA(x));
+}
+
+// ---------------------------------------------------------------------------
}; // namespace android
float operator()(float in);
};
+/*
+ * Two cascaded biquad IIR filters
+ * (4-poles IIR)
+ */
+class CascadedBiquadFilter {
+ BiquadFilter mA;
+ BiquadFilter mB;
+public:
+ CascadedBiquadFilter(const SecondOrderLowPassFilter& s);
+ float init(float in);
+ float operator()(float in);
+};
// ---------------------------------------------------------------------------
}; // namespace android