jlpoole/MotionCal
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Reduce variance when gaps error < 25%

Browse source
This commit is contained in:
PaulStoffregen 2016-04-01 04:57:08 -07:00
commit 9d28351f46
2 changed files with 107 additions and 23 deletions
Download patch file Download diff file Expand all files Collapse all files

27
quality.c
View file

@ -63,6 +63,12 @@ static Point_t spheredata[100];
static Point_t sphereideal[100];
static int sphereideal_initialized=0;
static float magnitude[MAGBUFFSIZE];
static float quality_gaps_buffer;
static float quality_variance_buffer;
static float quality_wobble_buffer;
static int quality_gaps_computed=0;
static int quality_variance_computed=0;
static int quality_wobble_computed=0;
void quality_reset(void)
{
@ -113,6 +119,9 @@ void quality_reset(void)
sphereideal[99].z = -1.0f;
sphereideal_initialized = 1;
}
quality_gaps_computed = 0;
quality_variance_computed = 0;
quality_wobble_computed = 0;
}
void quality_update(const Point_t *point)
@ -130,6 +139,9 @@ void quality_update(const Point_t *point)
spheredata[region].y += y;
spheredata[region].z += z;
count++;
quality_gaps_computed = 0;
quality_variance_computed = 0;
quality_wobble_computed = 0;
}
// How many surface gaps
@ -138,6 +150,7 @@ float quality_surface_gap_error(void)
float error=0.0f;
int i, num;
if (quality_gaps_computed) return quality_gaps_buffer;
for (i=0; i < 100; i++) {
num = spheredist[i];
if (num == 0) {
@ -148,7 +161,9 @@ float quality_surface_gap_error(void)
error += 0.01f;
}
}
return error;
quality_gaps_buffer = error;
quality_gaps_computed = 1;
return quality_gaps_buffer;
}
// Variance in magnitude
@ -157,6 +172,7 @@ float quality_magnitude_variance_error(void)
float sum, mean, diff, variance;
int i;
if (quality_variance_computed) return quality_variance_buffer;
sum = 0.0f;
for (i=0; i < count; i++) {
sum += magnitude[i];
@ -168,7 +184,9 @@ float quality_magnitude_variance_error(void)
variance += diff * diff;
}
variance /= (float)count;
return sqrtf(variance) / mean * 100.0f;
quality_variance_buffer = sqrtf(variance) / mean * 100.0f;
quality_variance_computed = 1;
return quality_variance_buffer;
}
// Offset of piecewise average data from ideal sphere surface
@ -178,6 +196,7 @@ float quality_wobble_error(void)
float xoff=0.0f, yoff=0.0f, zoff=0.0f;
int i, n=0;
if (quality_wobble_computed) return quality_wobble_buffer;
sum = 0.0f;
for (i=0; i < count; i++) {
sum += magnitude[i];
@ -208,7 +227,9 @@ float quality_wobble_error(void)
yoff /= (float)n;
zoff /= (float)n;
//if (pr) printf(" off = %.2f, %.2f, %.2f\n", xoff, yoff, zoff);
return sqrtf(xoff * xoff + yoff * yoff + zoff * zoff) / radius * 100.0f;
quality_wobble_buffer = sqrtf(xoff * xoff + yoff * yoff + zoff * zoff) / radius * 100.0f;
quality_wobble_computed = 1;
return quality_wobble_buffer;
}
// Freescale's algorithm fit error