/*
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* Copyright (C) 2011 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "SensorDevice.h"
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#include "SensorFusion.h"
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#include "SensorService.h"
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namespace android {
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// ---------------------------------------------------------------------------
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ANDROID_SINGLETON_STATIC_INSTANCE(SensorFusion)
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SensorFusion::SensorFusion()
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: mSensorDevice(SensorDevice::getInstance()),
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mAttitude(mAttitudes[FUSION_9AXIS]),
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mGyroTime(0), mAccTime(0)
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{
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sensor_t const* list;
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Sensor uncalibratedGyro;
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ssize_t count = mSensorDevice.getSensorList(&list);
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mEnabled[FUSION_9AXIS] = false;
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mEnabled[FUSION_NOMAG] = false;
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mEnabled[FUSION_NOGYRO] = false;
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if (count > 0) {
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for (size_t i=0 ; i<size_t(count) ; i++) {
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if (list[i].type == SENSOR_TYPE_ACCELEROMETER) {
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mAcc = Sensor(list + i);
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}
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if (list[i].type == SENSOR_TYPE_MAGNETIC_FIELD) {
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mMag = Sensor(list + i);
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}
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if (list[i].type == SENSOR_TYPE_GYROSCOPE) {
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mGyro = Sensor(list + i);
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}
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if (list[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
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uncalibratedGyro = Sensor(list + i);
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}
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}
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// Use the uncalibrated gyroscope for sensor fusion when available
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if (uncalibratedGyro.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
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mGyro = uncalibratedGyro;
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}
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// 200 Hz for gyro events is a good compromise between precision
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// and power/cpu usage.
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mEstimatedGyroRate = 200;
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mTargetDelayNs = 1000000000LL/mEstimatedGyroRate;
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for (int i = 0; i<NUM_FUSION_MODE; ++i) {
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mFusions[i].init(i);
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}
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}
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}
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void SensorFusion::process(const sensors_event_t& event) {
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if (event.type == mGyro.getType()) {
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float dT;
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if ( event.timestamp - mGyroTime> 0 &&
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event.timestamp - mGyroTime< (int64_t)(5e7) ) { //0.05sec
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dT = (event.timestamp - mGyroTime) / 1000000000.0f;
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// here we estimate the gyro rate (useful for debugging)
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const float freq = 1 / dT;
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if (freq >= 100 && freq<1000) { // filter values obviously wrong
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const float alpha = 1 / (1 + dT); // 1s time-constant
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mEstimatedGyroRate = freq + (mEstimatedGyroRate - freq)*alpha;
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}
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const vec3_t gyro(event.data);
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for (int i = 0; i<NUM_FUSION_MODE; ++i) {
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if (mEnabled[i]) {
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// fusion in no gyro mode will ignore
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mFusions[i].handleGyro(gyro, dT);
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}
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}
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}
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mGyroTime = event.timestamp;
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} else if (event.type == SENSOR_TYPE_MAGNETIC_FIELD) {
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const vec3_t mag(event.data);
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for (int i = 0; i<NUM_FUSION_MODE; ++i) {
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if (mEnabled[i]) {
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mFusions[i].handleMag(mag);// fusion in no mag mode will ignore
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}
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}
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} else if (event.type == SENSOR_TYPE_ACCELEROMETER) {
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float dT;
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if ( event.timestamp - mAccTime> 0 &&
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event.timestamp - mAccTime< (int64_t)(1e8) ) { //0.1sec
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dT = (event.timestamp - mAccTime) / 1000000000.0f;
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const vec3_t acc(event.data);
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for (int i = 0; i<NUM_FUSION_MODE; ++i) {
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if (mEnabled[i]) {
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mFusions[i].handleAcc(acc, dT);
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mAttitudes[i] = mFusions[i].getAttitude();
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}
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}
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}
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mAccTime = event.timestamp;
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}
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}
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template <typename T> inline T min(T a, T b) { return a<b ? a : b; }
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template <typename T> inline T max(T a, T b) { return a>b ? a : b; }
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status_t SensorFusion::activate(int mode, void* ident, bool enabled) {
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ALOGD_IF(DEBUG_CONNECTIONS,
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"SensorFusion::activate(mode=%d, ident=%p, enabled=%d)",
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mode, ident, enabled);
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const ssize_t idx = mClients[mode].indexOf(ident);
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if (enabled) {
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if (idx < 0) {
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mClients[mode].add(ident);
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}
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} else {
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if (idx >= 0) {
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mClients[mode].removeItemsAt(idx);
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}
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}
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const bool newState = mClients[mode].size() != 0;
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if (newState != mEnabled[mode]) {
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mEnabled[mode] = newState;
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if (newState) {
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mFusions[mode].init(mode);
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}
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}
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mSensorDevice.activate(ident, mAcc.getHandle(), enabled);
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if (mode != FUSION_NOMAG) {
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mSensorDevice.activate(ident, mMag.getHandle(), enabled);
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}
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if (mode != FUSION_NOGYRO) {
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mSensorDevice.activate(ident, mGyro.getHandle(), enabled);
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}
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return NO_ERROR;
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}
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status_t SensorFusion::setDelay(int mode, void* ident, int64_t ns) {
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// Call batch with timeout zero instead of setDelay().
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if (ns > (int64_t)5e7) {
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ns = (int64_t)(5e7);
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}
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mSensorDevice.batch(ident, mAcc.getHandle(), 0, ns, 0);
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if (mode != FUSION_NOMAG) {
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mSensorDevice.batch(ident, mMag.getHandle(), 0, ms2ns(10), 0);
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}
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if (mode != FUSION_NOGYRO) {
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mSensorDevice.batch(ident, mGyro.getHandle(), 0, mTargetDelayNs, 0);
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}
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return NO_ERROR;
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}
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float SensorFusion::getPowerUsage(int mode) const {
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float power = mAcc.getPowerUsage() +
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((mode != FUSION_NOMAG) ? mMag.getPowerUsage() : 0) +
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((mode != FUSION_NOGYRO) ? mGyro.getPowerUsage() : 0);
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return power;
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}
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int32_t SensorFusion::getMinDelay() const {
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return mAcc.getMinDelay();
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}
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void SensorFusion::dump(String8& result) {
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const Fusion& fusion_9axis(mFusions[FUSION_9AXIS]);
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result.appendFormat("9-axis fusion %s (%zd clients), gyro-rate=%7.2fHz, "
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"q=< %g, %g, %g, %g > (%g), "
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"b=< %g, %g, %g >\n",
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mEnabled[FUSION_9AXIS] ? "enabled" : "disabled",
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mClients[FUSION_9AXIS].size(),
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mEstimatedGyroRate,
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fusion_9axis.getAttitude().x,
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fusion_9axis.getAttitude().y,
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fusion_9axis.getAttitude().z,
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fusion_9axis.getAttitude().w,
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length(fusion_9axis.getAttitude()),
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fusion_9axis.getBias().x,
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fusion_9axis.getBias().y,
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fusion_9axis.getBias().z);
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const Fusion& fusion_nomag(mFusions[FUSION_NOMAG]);
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result.appendFormat("game fusion(no mag) %s (%zd clients), "
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"gyro-rate=%7.2fHz, "
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"q=< %g, %g, %g, %g > (%g), "
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"b=< %g, %g, %g >\n",
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mEnabled[FUSION_NOMAG] ? "enabled" : "disabled",
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mClients[FUSION_NOMAG].size(),
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mEstimatedGyroRate,
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fusion_nomag.getAttitude().x,
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fusion_nomag.getAttitude().y,
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fusion_nomag.getAttitude().z,
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fusion_nomag.getAttitude().w,
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length(fusion_nomag.getAttitude()),
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fusion_nomag.getBias().x,
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fusion_nomag.getBias().y,
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fusion_nomag.getBias().z);
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const Fusion& fusion_nogyro(mFusions[FUSION_NOGYRO]);
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result.appendFormat("geomag fusion (no gyro) %s (%zd clients), "
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"gyro-rate=%7.2fHz, "
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"q=< %g, %g, %g, %g > (%g), "
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"b=< %g, %g, %g >\n",
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mEnabled[FUSION_NOGYRO] ? "enabled" : "disabled",
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mClients[FUSION_NOGYRO].size(),
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mEstimatedGyroRate,
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fusion_nogyro.getAttitude().x,
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fusion_nogyro.getAttitude().y,
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fusion_nogyro.getAttitude().z,
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fusion_nogyro.getAttitude().w,
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length(fusion_nogyro.getAttitude()),
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fusion_nogyro.getBias().x,
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fusion_nogyro.getBias().y,
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fusion_nogyro.getBias().z);
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}
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// ---------------------------------------------------------------------------
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}; // namespace android
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