Schoumi/microbit-dal
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microbit: Code cleanup

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Removal of debugging information and redundant algorithms.
This commit is contained in:
Joe Finney 2016-01-28 17:09:01 +00:00
parent 8756bbd103
commit 0bbb5b9123
1 changed files with 0 additions and 21 deletions
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21
source/MicroBit.cpp
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@ -248,10 +248,6 @@ void MicroBit::compassCalibrator(MicroBitEvent)
// We have enough sample data to make a fairly accurate calibration.
// We use a Least Mean Squares approximation, as detailed in Freescale application note AN2426.
uBit.serial.printf("Input Data\n");
for (int i=0; i<PERIMETER_POINTS; i++)
uBit.serial.printf("%d : %d : %d : %d\n", (int)X.get(i,0), (int)X.get(i,1), (int)X.get(i,2), (int)X.get(i, 3));
// Firstly, calculate the square of each sample.
Matrix4 Y(X.height(), 1);
@ -262,26 +258,9 @@ void MicroBit::compassCalibrator(MicroBitEvent)
}
// Now perform a Least Squares Approximation.
// Method1
//Matrix4 XT = X.transpose();
//Matrix4 Beta = XT.multiply(X).invert().multiply(XT).multiply(Y);
//uBit.serial.printf("Output Data1\n");
//uBit.serial.printf("%d : %d : %d [%d]\n", (int)(Beta.get(0,0)/2), (int)(Beta.get(1,0)/2), (int)(Beta.get(2,0)/2), (int)Beta.get(3, 0));
// Method2
//Matrix4 Alpha2 = XT.multiply(X).invert();
//Matrix4 Gamma2 = XT.multiply(Y);
//Matrix4 Beta2 = Alpha2.multiply(Gamma2);
//uBit.serial.printf("Output Data2\n");
//uBit.serial.printf("%d : %d : %d [%d]\n", (int)(Beta2.get(0,0)/2), (int)(Beta2.get(1,0)/2), (int)(Beta2.get(2,0)/2), (int)Beta2.get(3, 0));
// Method3
Matrix4 Alpha = X.multiplyT(X).invert();
Matrix4 Gamma = X.multiplyT(Y);
Matrix4 Beta = Alpha.multiply(Gamma);
uBit.serial.printf("Output Data\n");
uBit.serial.printf("%d : %d : %d [%d]\n", (int)(Beta.get(0,0)/2), (int)(Beta.get(1,0)/2), (int)(Beta.get(2,0)/2), (int)Beta.get(3, 0));
// The result contains the approximate zero point of each axis, but doubled.
// Halve each sample, and record this as the compass calibration data.