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author | Kenzi Mudge <kenzimatic@google.com> | 2023-05-18 20:48:26 +0000 |
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committer | Automerger Merge Worker <android-build-automerger-merge-worker@system.gserviceaccount.com> | 2023-05-18 20:48:26 +0000 |
commit | df97f3eff9969ca907c6e22d6e687710cf203c3e (patch) | |
tree | 3213f06be4746db114d81dce70377676fd589569 | |
parent | 5838019168ad34f0a881e0f75ae5583299bfcb68 (diff) | |
parent | 067bf1e0286440ac93e024e071abbbd324f38a10 (diff) | |
download | tangorpro-df97f3eff9969ca907c6e22d6e687710cf203c3e.tar.gz |
Merge "Enable UWB filtering on all devices" into udc-dev am: 067bf1e028
Original change: https://googleplex-android-review.googlesource.com/c/device/google/tangorpro/+/23295336
Change-Id: I7da414e5db1828d782f76f9ed10e6050c3e29b22
Signed-off-by: Automerger Merge Worker <android-build-automerger-merge-worker@system.gserviceaccount.com>
-rw-r--r-- | rro_overlays/UwbOverlay/res/values/config.xml | 46 |
1 files changed, 46 insertions, 0 deletions
diff --git a/rro_overlays/UwbOverlay/res/values/config.xml b/rro_overlays/UwbOverlay/res/values/config.xml index 7a77d32..fcbfa5f 100644 --- a/rro_overlays/UwbOverlay/res/values/config.xml +++ b/rro_overlays/UwbOverlay/res/values/config.xml @@ -17,4 +17,50 @@ */ --> <resources> + <!-- When true, the filter engine will alter UWB values to improve accuracy. --> + <bool name="enable_filters">true</bool> + + <!-- The size in samples of the sliding window for the AoA filters. Note that this increases + latency to about half the window size. --> + <integer name="filter_angle_window">1</integer> + + <!-- Enables elevation estimation. Strongly recommended for hardware that doesn't support + elevation. This helps produce better predictions from pose changes, and improves the quality + of the AoA primer. --> + <bool name="enable_primer_est_elevation">false</bool> + + <!-- Enables the AoA conversion primer. This is needed on hardware that does not convert AoA + to spherical coordinates, including hardware that does not support elevation.--> + <bool name="enable_primer_aoa">false</bool> + + <!-- Selects which pose source will be used by default to anticipate the next UWB measurement. + The pose source helps lower latency by shifting the filter states to reflect how the phone has + moved. + NONE = No pose source. + ROTATION_VECTOR = Requires gyro, accel and compass. Very accurate, rotation only. + GYRO = Gyro only. Less accurate, Saves a tiny bit of power. + SIXDOF = 6DOF sensor. Extremely accurate, accounts for position. Not available on most hardware. + DOUBLE_INTEGRATE = Double integration. Under development. Expect very bad motion drift. + --> + <string name="pose_source_type">NONE</string> + + <!-- Sets the field of view, in degrees. Note that this is in degrees from 0 (straight ahead), + which is not the same as how camera FOV is represented. + UWB values outside the field of view will be replaced with predicted values based on pose + changes. The FOV is circular, so a value of 90 will only provide continuous azimuth values if + elevation is zero. + If <=0 or >=180, the primer will be disabled, allowing an unlimited field of view. --> + <integer name="primer_fov_degrees">0</integer> + + <!-- Enables the back azimuth primer. This is needed on hardware that does not report azimuth + values beyond +/-90deg. This primer determines if azimuth values are likely to be coming from + behind the phone in three ways: + 1. The prediction expects the next reading to come from behind the user because the user has + rotated away from the signal. + 2. Predictions based on pose changes inversely correlate with azimuth readings. + 3. UWB readings show very little relationship to pose changes because of non-line-of-sight + conditions. + This works best with an FOV primer setting below 90 degrees to ensure that predictions are being + used across the 90-degree threshold. --> + <bool name="enable_azimuth_mirroring">false</bool> </resources> |