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ui accelerometer compsensations and visual tweaks

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Mikkeli Matlock
2026-02-05 00:00:38 +09:00
parent 8044bbde94
commit 7d8f813b59
6 changed files with 108 additions and 9 deletions
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26
pi/ui/lib/screens/dashboard_screen.dart
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@@ -1,4 +1,5 @@
import 'dart:async';
import 'dart:math' show sqrt, sin, cos, pi;
import 'package:flutter/material.dart';
import '../services/backend_service.dart';
@@ -25,6 +26,8 @@ class DashboardScreen extends StatefulWidget {
}
class _DashboardScreenState extends State<DashboardScreen> {
static const _surpriseThreshold = 0.2; // G threshold for navigator surprise
final _navigatorKey = GlobalKey<NavigatorWidgetState>();
// Timer for Pi temp only (safety critical, direct file read)
@@ -47,6 +50,8 @@ class _DashboardScreenState extends State<DashboardScreen> {
double? _pitch;
double? _ax;
double? _ay;
double? _dynamicAx; // Gravity-compensated
double? _dynamicAy;
// From backend - GPS data
double? _gpsSpeed;
@@ -67,6 +72,16 @@ class _DashboardScreenState extends State<DashboardScreen> {
// Subscribe to Arduino data stream
_arduinoSub = WebSocketService.instance.arduinoStream.listen((data) {
// Gravity-compensated acceleration
// When tilted, gravity "leaks" into horizontal axes - subtract it out
final rollRad = (data.roll ?? 0) * pi / 180;
final pitchRad = (data.pitch ?? 0) * pi / 180;
// Subtract gravity leakage from measured acceleration
// Axes swapped for IMU mounting orientation
final dynamicAx = (data.ay ?? 0) + sin(rollRad);
final dynamicAy = (data.ax ?? 0) - (sin(pitchRad) * cos(rollRad));
setState(() {
_voltage = data.voltage;
_rpm = data.rpm;
@@ -76,7 +91,14 @@ class _DashboardScreenState extends State<DashboardScreen> {
_pitch = data.pitch;
_ax = data.ax;
_ay = data.ay;
_dynamicAx = dynamicAx;
_dynamicAy = dynamicAy;
});
final gMagnitude = sqrt(dynamicAx * dynamicAx + dynamicAy * dynamicAy);
if (gMagnitude > _surpriseThreshold) {
_navigatorKey.currentState?.setEmotion('surprise');
}
});
// Subscribe to GPS data stream
@@ -197,8 +219,8 @@ class _DashboardScreenState extends State<DashboardScreen> {
),
Expanded(
child: AccelGraph(
ax: _ay, // Swapped: IMU Y → screen X (lateral)
ay: _ax, // Swapped: IMU X → screen Y (longitudinal)
ax: _dynamicAx, // Gravity-compensated lateral
ay: _dynamicAy, // Gravity-compensated longitudinal
maxG: 1.0,
ghostTrackPeriod: const Duration(seconds: 3),
),