@aibee/crc-bmap 0.2.3 → 0.2.4

package/lib/bmap.esm.js

@@ -11438,7 +11438,7 @@ var BMapSelect = class extends Plugin {
 import { cloneDeep as cloneDeep4, isNil, throttle } from "lodash";
 import { EventDispatcher as EventDispatcher13 } from "three";
 var defaultSensorOptions = {
-  time: 200,
+  time: 1e3,
   elements: ["compass" /* COMPASS */, "deviceMotion" /* DEVICE_MOTION */, "acceleration" /* ACCELERATION */, "gps" /* GPS */]
 };
 var Sensor = class extends EventDispatcher13 {
@@ -11680,6 +11680,11 @@ var ParticleFilter = class {
         this.particleWeight[0][index] *= this.unaccess_weight;
       }
     }
+    console.log(
+      "sin",
+      Math.sin(-this.particleX[2][0] / 180 * Math.PI),
+      Math.cos(this.particleX[2][0] / 180 * Math.PI)
+    );
     const weightSum = this.particleWeight[0].reduce((a, b) => a + b, 0);
     this.particleWeight[0] = this.particleWeight[0].map((w) => w / weightSum);
   }
@@ -22138,8 +22143,10 @@ var ImuPosition = class {
       delta_yaw = this.delta_yaw_accum;
       this.delta_yaw_accum = 0;
       this.delta_yaw_accum_timestamp = timestamp;
+      return delta_yaw;
+    } else {
+      return null;
     }
-    return delta_yaw;
   }
   limitYaw(yaw) {
     while (yaw < -180) yaw += 360;
@@ -22217,8 +22224,11 @@ var PositioningSystem = class {
         }
       }
       if (data_type === "deviceMotion" /* DEVICE_MOTION */) {
-        const delt_yaw = this.pdr.getDeltaYawFromRot(time / 1e3, data);
-        this.particleFilter.motionModelRotYaw(delt_yaw);
+        const delta_yaw = this.pdr.getDeltaYawFromRot(time / 1e3, data);
+        if (delta_yaw !== null) {
+          console.log("delta_yaw", delta_yaw);
+          this.particleFilter.motionModelRotYaw(delta_yaw);
+        }
       }
       if (data_type === "compass" /* COMPASS */) {
         this.particleFilter.motionModelCompassYaw(data, time);