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disable check of flag valid position returned by the sensor
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My old device (Sony XA2) seems to not update the status as expected,
so disable the check to process data.
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@janbar
janbar committed Sep 14, 2024
1 parent 8a55082 commit d216e68
Showing 1 changed file with 73 additions and 81 deletions.
154 changes: 73 additions & 81 deletions src/tracker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -283,112 +283,104 @@ void TrackerModule::onLocationChanged(bool positionValid, double lat, double lon
osmscout::Timestamp now = std::chrono::system_clock::now();
osmscout::Bearing bearing;

if (positionValid)
// compute data for the last interval,
// starting with the last known position and up to now
if (!m_lastPosition)
{
// compute data for the last interval,
// starting with the last known position and up to now
if (!m_lastPosition)
{
// On the first run, initialize the starting data
m_currentAlt = alt;
m_currentSpeed = 0.0;
bearing = osmscout::Bearing::Degrees(m_azimuth);
}
else
{
}
else
{
// the duration should be non zero
auto sec = std::chrono::duration_cast<std::chrono::duration<double> >(now - m_lastPosition.time);
if (sec.count() > 0)
{
// i use accel to validate the new interval
// the new data won't be used when value is excessive
// the horizontal distance
double dh = osmin::Utils::sphericalDistance(m_lastPosition.coord.GetLat(), m_lastPosition.coord.GetLon(), lat, lon);
double dv = 0.0;
if (!std::isnan(alt) && !std::isnan(m_currentAlt))
dv = alt - m_currentAlt;
double s0 = std::sqrt(std::pow(dh, 2) + std::pow(dv, 2)) / sec.count();
double accel = std::fabs((s0 - (m_currentSpeed / 3.6)) / sec.count());
if (accel > MAX_ACCEL)
{
// reset elevation for the next run
m_currentAlt = alt;
}
else
{
// the vertical accuracy isn't good enough, therefore i estimate the speed using
// horizontal data only
double kmh = 3.6 * dh / sec.count();
// update tracking data when moving
if (kmh > MOVING_SPEED)
// i use accel to validate the new interval
// the new data won't be used when value is excessive
// the horizontal distance
double dh = osmin::Utils::sphericalDistance(m_lastPosition.coord.GetLat(), m_lastPosition.coord.GetLon(), lat, lon);
double dv = 0.0;
if (!std::isnan(alt) && !std::isnan(m_currentAlt))
dv = alt - m_currentAlt;
double s0 = std::sqrt(std::pow(dh, 2) + std::pow(dv, 2)) / sec.count();
double accel = std::fabs((s0 - (m_currentSpeed / 3.6)) / sec.count());
if (accel > MAX_ACCEL)
{
m_distance += dh;
m_duration += sec.count();
if (kmh > m_maxSpeed)
m_maxSpeed = kmh;
if (dv > ASC_THRESHOLD)
{
m_ascent += dv;
m_currentAlt = alt;
}
else if (dv < DES_THRESHOLD)
{
m_descent -= dv;
// reset elevation for the next run
m_currentAlt = alt;
}
}
m_currentSpeed = kmh;
emit dataChanged(m_currentSpeed, m_distance, m_duration, m_ascent, m_descent, m_maxSpeed);
}
else
{
// the vertical accuracy isn't good enough, therefore i estimate the speed using
// horizontal data only
double kmh = 3.6 * dh / sec.count();
// update tracking data when moving
if (kmh > MOVING_SPEED)
{
m_distance += dh;
m_duration += sec.count();
if (kmh > m_maxSpeed)
m_maxSpeed = kmh;
if (dv > ASC_THRESHOLD)
{
m_ascent += dv;
m_currentAlt = alt;
}
else if (dv < DES_THRESHOLD)
{
m_descent -= dv;
m_currentAlt = alt;
}
}
m_currentSpeed = kmh;
emit dataChanged(m_currentSpeed, m_distance, m_duration, m_ascent, m_descent, m_maxSpeed);
}
}
// when we are stationary the direction is calculated according to the azimuth of the device
// otherwise it is estimated according to the progress compared to the previous position
if (m_currentSpeed < COURSE_SPEED)
bearing = osmscout::Bearing::Degrees(m_azimuth);
bearing = osmscout::Bearing::Degrees(m_azimuth);
else
bearing = osmscout::Bearing::Radians(osmin::Utils::sphericalBearingFinal(m_lastPosition.coord.GetLat(), m_lastPosition.coord.GetLon(), lat, lon));
bearing = osmscout::Bearing::Radians(osmin::Utils::sphericalBearingFinal(m_lastPosition.coord.GetLat(), m_lastPosition.coord.GetLon(), lat, lon));

if (m_recording)
{
if (!m_lastRecord)
{
record();
m_lastRecord.time = m_lastPosition.time;
m_lastRecord.coord = m_lastPosition.coord;
m_lastRecord.bearing = m_lastPosition.bearing;
emit positionRecorded(m_lastRecord.coord);
}
else
{
double dh = osmin::Utils::sphericalDistance(m_lastRecord.coord.GetLat(), m_lastRecord.coord.GetLon(), lat, lon);
double da = std::fabs(bearing.AsRadians() - m_lastRecord.bearing.AsRadians());
if (da > M_PI_2)
da = std::fabs(da - M_PI);
// 0.17rad ~ 20deg
if (dh >= RECORD_INTERVAL || (da > 0.17 && dh > 5.0))
if (!m_lastRecord)
{
record();
m_lastRecord.time = m_lastPosition.time;
m_lastRecord.coord = m_lastPosition.coord;
m_lastRecord.bearing = m_lastPosition.bearing;
emit positionRecorded(m_lastRecord.coord);
record();
m_lastRecord.time = m_lastPosition.time;
m_lastRecord.coord = m_lastPosition.coord;
m_lastRecord.bearing = m_lastPosition.bearing;
emit positionRecorded(m_lastRecord.coord);
}
else
{
double dh = osmin::Utils::sphericalDistance(m_lastRecord.coord.GetLat(), m_lastRecord.coord.GetLon(), lat, lon);
double da = std::fabs(bearing.AsRadians() - m_lastRecord.bearing.AsRadians());
if (da > M_PI_2)
da = std::fabs(da - M_PI);
// 0.17rad ~ 20deg
if (dh >= RECORD_INTERVAL || (da > 0.17 && dh > 5.0))
{
record();
m_lastRecord.time = m_lastPosition.time;
m_lastRecord.coord = m_lastPosition.coord;
m_lastRecord.bearing = m_lastPosition.bearing;
emit positionRecorded(m_lastRecord.coord);
}
}
}
}
}

// save last position
m_lastPosition.bearing = bearing;
m_lastPosition.coord.Set(lat, lon);
m_lastPosition.elevation = alt;
m_lastPosition.time = now;
}
else
{
// update azimuth only
m_lastPosition.bearing = osmscout::Bearing::Degrees(m_azimuth);
}

// save last position
m_lastPosition.bearing = bearing;
m_lastPosition.coord.Set(lat, lon);
m_lastPosition.elevation = alt;
m_lastPosition.time = now;

emit positionChanged(m_state, m_lastPosition.coord, std::optional<osmscout::Bearing>(m_lastPosition.bearing));
}

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