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hulop / NavCogIOS

NavCog is an example app of blelocpp library aimed specifically for the blind to help those people “explore” the world without vision. Now we are developing v3.
https://github.com/hulop/NavCogIOSv3
MIT License
10 stars 8 forks source link

Turning announce is wrong in second navigation #5

Closed dsato80 closed 8 years ago

dsato80 commented 8 years ago

bug report from @loopRW

after a trip to Place B (good), I tried another one from Place A to Place B and I reinitialized the navigation, however the direction would be wrong this time. In particular, starting from the initializing position, it would tell me "turn left" instead of "turn right" and it would play the correct turning sign after I turned about 120 degrees to the left.

chengxiong-ruan commented 8 years ago

sensor error accumulated ? Or, you're using a different way for heading?

dsato80 commented 8 years ago

I forgot to attach his log 2016-02-18-11-07-22.log.txt

It seems to have something two instances (or thread?) handling sensor. Motion sensor should be updated about 10 times per sec but updated about 20 times. Two small delays are strange.

screen shot 2016-02-24 at 6 19 05 am 
2016-02-18 11:07:22.197 NavCog[4402:2136185] Motion,0.126981,-0.053295,2.723361
2016-02-18 11:07:22.198 NavCog[4402:2136185] Motion,0.124606,-0.049582,2.723497
2016-02-18 11:07:22.279 NavCog[4402:2136185] Motion,0.121792,-0.037860,2.722703
2016-02-18 11:07:22.292 NavCog[4402:2136185] Motion,0.121541,-0.036267,2.722643
2016-02-18 11:07:22.371 NavCog[4402:2136185] Motion,0.121224,-0.031239,2.724725
2016-02-18 11:07:22.400 NavCog[4402:2136185] Motion,0.121598,-0.030837,2.725053
2016-02-18 11:07:22.474 NavCog[4402:2136185] Motion,0.122083,-0.029003,2.724657
2016-02-18 11:07:22.497 NavCog[4402:2136185] Motion,0.122004,-0.029130,2.724298
2016-02-18 11:07:22.578 NavCog[4402:2136185] Motion,0.123444,-0.028580,2.721018
2016-02-18 11:07:22.592 NavCog[4402:2136185] Motion,0.123350,-0.028171,2.720341
2016-02-18 11:07:22.676 NavCog[4402:2136185] Motion,0.122124,-0.027903,2.716720
2016-02-18 11:07:22.697 NavCog[4402:2136185] Motion,0.122074,-0.027699,2.716137
2016-02-18 11:07:22.775 NavCog[4402:2136185] Motion,0.121916,-0.025962,2.713055
2016-02-18 11:07:22.793 NavCog[4402:2136185] Motion,0.122417,-0.026067,2.713310
2016-02-18 11:07:22.880 NavCog[4402:2136185] Motion,0.124426,-0.020991,2.718722
2016-02-18 11:07:22.892 NavCog[4402:2136185] Motion,0.124458,-0.018835,2.720560
2016-02-18 11:07:22.971 NavCog[4402:2136185] Motion,0.131795,-0.013293,2.750520
2016-02-18 11:07:22.984 NavCog[4402:2136185] Motion,0.133667,-0.013032,2.760134
2016-02-18 11:07:23.073 NavCog[4402:2136185] Motion,0.139684,-0.000979,2.847798
2016-02-18 11:07:23.090 NavCog[4402:2136185] Motion,0.141637,0.000428,2.869885
2016-02-18 11:07:23.177 NavCog[4402:2136185] Motion,0.154543,0.013323,3.031918
2016-02-18 11:07:23.333 NavCog[4402:2136185] Motion,0.158489,0.014649,3.067829
2016-02-18 11:07:23.335 NavCog[4402:2136185] Motion,0.180706,0.012140,-2.988654
2016-02-18 11:07:23.336 NavCog[4402:2136185] Motion,0.178790,0.013463,-2.947435
2016-02-18 11:07:23.374 NavCog[4402:2136185] Motion,0.156332,0.001638,-2.713472
2016-02-18 11:07:23.392 NavCog[4402:2136185] Motion,0.153542,-0.005805,-2.673233
2016-02-18 11:07:23.477 NavCog[4402:2136185] Motion,0.156467,-0.026056,-2.433267
2016-02-18 11:07:23.491 NavCog[4402:2136185] Motion,0.158903,-0.034001,-2.394282
2016-02-18 11:07:23.571 NavCog[4402:2136185] Motion,0.170053,-0.070313,-2.203353
2016-02-18 11:07:23.584 NavCog[4402:2136185] Motion,0.168165,-0.069175,-2.175224
2016-02-18 11:07:23.674 NavCog[4402:2136185] Motion,0.161503,-0.026139,-2.017571
2016-02-18 11:07:23.691 NavCog[4402:2136185] Motion,0.159205,-0.025708,-1.989672
2016-02-18 11:07:23.777 NavCog[4402:2136185] Motion,0.159791,-0.004143,-1.816030
2016-02-18 11:07:23.792 NavCog[4402:2136185] Motion,0.161817,-0.001957,-1.785372
2016-02-18 11:07:23.886 NavCog[4402:2136185] Motion,0.157558,0.017639,-1.653790
2016-02-18 11:07:23.888 NavCog[4402:2136185] Motion,0.160520,0.019591,-1.627320
2016-02-18 11:07:23.977 NavCog[4402:2136185] Motion,0.184027,0.018789,-1.481781
2016-02-18 11:07:23.989 NavCog[4402:2136185] Motion,0.186488,0.018253,-1.454677
2016-02-18 11:07:24.077 NavCog[4402:2136185] Motion,0.202793,0.015571,-1.298211
2016-02-18 11:07:24.092 NavCog[4402:2136185] Motion,0.204799,0.017149,-1.271709
2016-02-18 11:07:24.182 NavCog[4402:2136185] Motion,0.225777,0.013107,-1.124457
2016-02-18 11:07:24.184 NavCog[4402:2136185] Motion,0.224280,0.014432,-1.099333
2016-02-18 11:07:24.361 NavCog[4402:2136185] Motion,0.212173,0.035430,-0.955131
2016-02-18 11:07:24.361 NavCog[4402:2136185] Motion,0.209523,0.033705,-0.928604
2016-02-18 11:07:24.375 NavCog[4402:2136185] Motion,0.218535,0.021893,-0.782599
2016-02-18 11:07:24.391 NavCog[4402:2136185] Motion,0.217033,0.017495,-0.760764
2016-02-18 11:07:24.473 NavCog[4402:2136185] Motion,0.222696,-0.004051,-0.652368
2016-02-18 11:07:24.496 NavCog[4402:2136185] Motion,0.224913,-0.006356,-0.635356
2016-02-18 11:07:24.573 NavCog[4402:2136185] Motion,0.239325,0.045752,-0.543504
2016-02-18 11:07:24.590 NavCog[4402:2136185] Motion,0.233334,0.053618,-0.528680
2016-02-18 11:07:24.678 NavCog[4402:2136185] Motion,0.235606,0.060853,-0.504010
2016-02-18 11:07:24.690 NavCog[4402:2136185] Motion,0.241452,0.056760,-0.511792
2016-02-18 11:07:24.772 NavCog[4402:2136185] Motion,0.239322,0.000837,-0.581400
2016-02-18 11:07:24.783 NavCog[4402:2136185] Motion,0.231807,-0.003871,-0.591091
2016-02-18 11:07:24.885 NavCog[4402:2136185] Motion,0.232987,-0.050381,-0.636958
2016-02-18 11:07:24.890 NavCog[4402:2136185] Motion,0.237925,-0.064315,-0.640746
2016-02-18 11:07:24.980 NavCog[4402:2136185] Motion,0.201826,-0.096034,-0.653123
2016-02-18 11:07:24.994 NavCog[4402:2136185] Motion,0.196516,-0.093906,-0.659113
2016-02-18 11:07:25.083 NavCog[4402:2136185] Motion,0.218722,-0.081793,-0.700930
2016-02-18 11:07:25.095 NavCog[4402:2136185] Motion,0.221323,-0.080231,-0.705025
2016-02-18 11:07:25.180 NavCog[4402:2136185] Motion,0.224620,-0.046046,-0.737789
2016-02-18 11:07:25.193 NavCog[4402:2136185] Motion,0.229207,-0.051149,-0.741643