public void Start()
{
_motionManager = new CMMotionManager();
_motionManager.StartDeviceMotionUpdates(NSOperationQueue.CurrentQueue, (data, error) =>
{
var xMotion = new XMotion
{
Pitch = data.Attitude.Pitch,
Roll = data.Attitude.Roll,
Yaw = data.Attitude.Yaw
};
CurrentMotion = xMotion;
if (MotionUpdated != null)
{
MotionUpdated(this, EventArgs.Empty);
}
});
}
private void computeOrientation()
{
if (SensorManager.GetRotationMatrix(m_rotationMatrix, null, m_lastAccels, m_lastMagFields))
{
SensorManager.GetOrientation(m_rotationMatrix, m_orientation);
float yaw = (float)(RadianToDegree(m_orientation[0])); /* + Declination (Based on phone's location?) */
float pitch = (float)RadianToDegree(m_orientation[1]);
float roll = (float)RadianToDegree(m_orientation[2]);
var xMotion = new XMotion
{
Pitch = pitch,
Roll = roll,
Yaw = yaw
};
//Console.WriteLine("Pitch: " + xMotion.Pitch);
//Console.WriteLine("Roll: " + xMotion.Roll);
//Console.WriteLine("Yaw: " + xMotion.Yaw + " ----");
//TODO: Low pass filtering? Evens out results. -- http://www.raweng.com/blog/2013/05/28/applying-low-pass-filter-to-android-sensors-readings/
//var xMotion = new XMotion
//{
// Pitch = lowPass(pitch),
// Roll = lowPass(roll),
// Yaw = lowPass(yaw)
//};
CurrentMotion = xMotion;
if (MotionUpdated != null)
{
MotionUpdated(this, EventArgs.Empty);
}
}
}
