@wemap/providers 5.4.9 → 5.6.1

package/package.json

@@ -8,12 +8,12 @@
     "Guillaume Pannetier <guillaume.pannetier@getwemap.com>"
   ],
   "dependencies": {
-    "@wemap/geo": "^5.1.7",
+    "@wemap/geo": "^5.6.0",
     "@wemap/geomagnetism": "^0.1.1",
     "@wemap/logger": "^5.0.0",
-    "@wemap/map": "^5.4.9",
-    "@wemap/maths": "^5.1.1",
-    "@wemap/osm": "^5.4.9",
+    "@wemap/map": "^5.6.1",
+    "@wemap/maths": "^5.6.0",
+    "@wemap/osm": "^5.6.1",
     "@wemap/utils": "^5.0.0"
   },
   "description": "A package using different geoloc systems",
@@ -39,6 +39,6 @@
     "url": "git+https://github.com/wemap/wemap-modules-js.git"
   },
   "type": "module",
-  "version": "5.4.9",
-  "gitHead": "1f103ba7b90cda5bddea67da9ae4867fb892dc7f"
+  "version": "5.6.1",
+  "gitHead": "d3836758ae0b8dbbd76f5f466575a856461a8284"
 }

package/src/providers/attitude/absolute/AbsoluteAttitude.js

@@ -1,5 +1,5 @@
 import { AbsoluteHeading, Attitude } from '@wemap/geo';
-import { Quaternion } from '@wemap/maths';
+import { deg2rad, diffAngle, Quaternion } from '@wemap/maths';
 import { PromiseUtils } from '@wemap/utils';
 
 import Provider from '../../Provider.js';
@@ -7,12 +7,16 @@ import EventType from '../../../events/EventType.js';
 import AbsoluteAttitudeFromBrowser from './AbsoluteAttitudeFromBrowser.js';
 import RelativeAttitude from '../relative/RelativeAttitude.js';
 import ProviderEvent from '../../../events/ProviderEvent.js';
+import HighRotationsDetector from '../../imu/HighRotationsDetector.js';
 
 /**
  * Absolute attitude provider gives the device attitude in East-North-Up (ENU) frame
  */
 class AbsoluteAttitude extends Provider {
 
+    /** @type {number} */
+    static REL_ABS_DIVERGENCE_THRESHOLD = deg2rad(25);
+
     /** @type {boolean} */
     _attitudeFromBrowserErrored = false;
 
@@ -35,6 +39,9 @@ class AbsoluteAttitude extends Provider {
     /** @type {number[]} quaternion offset from relative to absolute */
     _relAbsQuat;
 
+    /** @type {boolean} */
+    _wasHighRotationInProgress = false;
+
 
     constructor() {
         super();
@@ -88,6 +95,7 @@ class AbsoluteAttitude extends Provider {
             }
         );
 
+        this.highRotationDetectorId = HighRotationsDetector.addEventListener();
     }
 
     /**
@@ -96,6 +104,7 @@ class AbsoluteAttitude extends Provider {
     stop() {
         AbsoluteAttitudeFromBrowser.removeEventListener(this.fromBrowserProviderId);
         RelativeAttitude.removeEventListener(this.relativeAttitudeProviderId);
+        HighRotationsDetector.removeEventListener(this.highRotationDetectorId);
     }
 
     onError(error) {
@@ -173,8 +182,7 @@ class AbsoluteAttitude extends Provider {
             Math.PI
         );
 
-        let newAccuracy = accuracyWithRelative;
-        let relAbsQuat = this._relAbsQuat;
+        const highRotationInProgress = HighRotationsDetector.isInProgress();
 
         if (this._eventFromBrowser) {
 
@@ -183,14 +191,29 @@ class AbsoluteAttitude extends Provider {
                 heading: headingFromAbsolute
             } = this._eventFromBrowser.data;
 
-            if (accuracyWithAbsolute < accuracyWithRelative) {
-                newAccuracy = accuracyWithAbsolute;
-                relAbsQuat = Quaternion.fromAxisAngle([0, 0, 1], event.data.heading - headingFromAbsolute);
+            if (this._wasHighRotationInProgress && !highRotationInProgress) {
+                // Update heading for relative if it the end of high rotations
+                // (probably due to a magnetometer calibratiton)
+                this._forceHeadingForRelative(this._eventFromBrowser);
+
+            } else if (accuracyWithAbsolute < accuracyWithRelative) {
+                // Update heading for relative if:
+                // (1) accuracy from absolute is better than relative
+                // (2) heading divergence is greater than REL_ABS_DIVERGENCE_THRESHOLD
+                const relativeQuaternion = Quaternion.multiply(this._relAbsQuat, quaternion);
+                const relativeAttitude = new Attitude(relativeQuaternion);
+                const angle = Math.abs(diffAngle(relativeAttitude.heading, headingFromAbsolute));
+                if (angle > AbsoluteAttitude.REL_ABS_DIVERGENCE_THRESHOLD) {
+                    this._forceHeadingForRelative(this._eventFromBrowser);
+                }
             }
+
         }
 
-        const absoluteQuat = Quaternion.multiply(relAbsQuat, quaternion);
-        const attitude = new Attitude(absoluteQuat, time, newAccuracy);
+        this._wasHighRotationInProgress = highRotationInProgress;
+
+        const absoluteQuat = Quaternion.multiply(this._relAbsQuat, quaternion);
+        const attitude = new Attitude(absoluteQuat, time, accuracyWithRelative);
 
         this.notify(this.createEvent(
             EventType.AbsoluteAttitude,