@aibee/crc-bmap 0.1.11 → 0.1.13

package/lib/bmap.esm.js

@@ -9721,8 +9721,8 @@ var ImuPosition = class {
     this.last_valley_time = 0;
     this.last_peak_time = 0;
     this.last_step_time = 0;
-    this.min_step_time = 0.3;
-    this.max_step_time = 1;
+    this.min_step_time = 300;
+    this.max_step_time = 1e3;
     this.min_peak = 10 + 0.5;
     this.max_valley = 10 - 0.5;
     this.peak_num = 0;
@@ -9733,7 +9733,7 @@ var ImuPosition = class {
     this.last_fft_amp = 0;
     this.abnor_start_time = 0;
     this.abnor_fft_detected = false;
-    this.abnor_time_threshod = 4;
+    this.abnor_time_threshod = 4e3;
     this.abnor_peak_time = 0;
     this.abnor_peak_accH = 0;
     this.const_step_length = 0.65;
@@ -9745,7 +9745,7 @@ var ImuPosition = class {
     this.delta_rot_sum_time_fifo = [];
     this.delta_yaw_accum = 0;
     this.delta_yaw_accum_timestamp = 0;
-    this.delta_yaw_time_threshold = 0.5;
+    this.delta_yaw_time_threshold = 500;
     this.last_px = 0;
     this.last_py = 0;
     this.delta_px = 0;
@@ -9805,21 +9805,23 @@ var ImuPosition = class {
       } else if (!this.abnor_fft_detected) {
         this.abnor_start_time = 0;
       }
+      console.log("pv_detected", pv_detected, fft_detected, recheck_detected, this.abnor_start_time, pv_mid_time);
       if (pv_detected && fft_detected && recheck_detected) {
         this.step_count++;
         this.last_step_time = pv_mid_time;
         detected_flag = true;
-      } else if (Math.abs(this.abnor_start_time) > 1e-3 && this.abnor_peak_time - this.abnor_start_time > this.abnor_time_threshod && this.step_count > 1 && this.abnor_peak_time - this.last_step_time > 1) {
+      } else if (Math.abs(this.abnor_start_time) > 1e-3 && this.abnor_peak_time - this.abnor_start_time > this.abnor_time_threshod && this.step_count > 1 && this.abnor_peak_time - this.last_step_time > 1e3) {
         this.step_count++;
         this.last_step_time = pv_mid_time;
         detected_flag = true;
       } else {
-        if (pv_mid_time - this.last_step_time > 2) {
+        if (pv_mid_time - this.last_step_time > 2e3) {
           this.state_count = 0;
         }
         detected_flag = false;
       }
     }
+    console.log("detected_flag", detected_flag);
     if (detected_flag) {
       const yaw_rad = this.last_yaw / 180 * Math.PI;
       this.delta_px = this.const_step_length * Math.cos(yaw_rad);
@@ -9830,8 +9832,9 @@ var ImuPosition = class {
     }
   }
   imuFreUpdate() {
+    console.log("this.accH_time_fifo", this.accH_time_fifo);
     if (this.accH_time_fifo.length > 2) {
-      if (this.accH_time_fifo[this.accH_time_fifo.length - 1] - this.accH_time_fifo[this.accH_time_fifo.length - 2] < 0 || this.accH_time_fifo[this.accH_time_fifo.length - 1] - this.accH_time_fifo[this.accH_time_fifo.length - 2] > 10 || this.accH_time_fifo[this.accH_time_fifo.length - 1] === this.accH_time_fifo[0]) {
+      if (this.accH_time_fifo[this.accH_time_fifo.length - 1] - this.accH_time_fifo[this.accH_time_fifo.length - 2] < 0 || this.accH_time_fifo[this.accH_time_fifo.length - 1] - this.accH_time_fifo[this.accH_time_fifo.length - 2] > 1e4 || this.accH_time_fifo[this.accH_time_fifo.length - 1] === this.accH_time_fifo[0]) {
         console.warn(`pdr reset last one time ${this.accH_time_fifo[this.accH_time_fifo.length - 1]} last two time ${this.accH_time_fifo[this.accH_time_fifo.length - 2]}`);
         this.reset();
       }
@@ -9862,6 +9865,7 @@ var ImuPosition = class {
     const min_accH = Math.min(...pv_accH_fifo);
     let is_step_peak = false;
     let is_step_valley = false;
+    console.log("mid_accH - min_accH", mid_accH - min_accH, mid_accH, max_accH, this.valley_num, this.peak_num, this.min_peak);
     if (Math.abs(mid_accH - min_accH) < 0.01 && mid_accH < this.max_valley && this.valley_num <= this.peak_num) {
       if (this.last_valley_time === void 0) {
         is_step_valley = true;