AccelerometerLeveledRelativeAttitudeProcessor

Indicates whether gravity norm must be adjusted to either Earth standard norm, or norm at provided location. If no location is provided, this should only be enabled when device is close to sea level.

Instance to be reused which contains merged attitudes of both the internal leveling processor and the relative attitude processor.

Gets a new triad containing gravity component of specific force expressed in NED coordinates and in meters per squared second (m/s^2).

X-coordinates of last sensed gravity component of specific force expressed in NED coordinates and in meters per squared second (m/s^2).

Y-coordinate of last sensed gravity component of specific force expressed in NED coordinates and in meters per squared second (m/s^2).

Z-coordinate of last sensed gravity component of specific force expressed in NED coordinates and in meters per squared second (m/s^2).

Factor to take into account when interpolation value is computed and useIndirectInterpolation is enabled to determine actual interpolation value based on current relative attitude rotation velocity.

Interpolation value to be used to combine both leveling and relative attitudes. Must be between 0.0 and 1.0 (both included). The closer to 0.0 this value is, the more resemblance the result will have to a pure leveling (which feels more jerky when using accelerometer). On the contrary, the closer to 1.0 this value is, the more resemblance the result will have to a pure non-leveled relative attitude (which feels softer but might have arbitrary roll and pitch Euler angles).

Gets or sets device location

Threshold to determine that leveling has largely diverged and if situation is not reverted soon, attitude will be reset to leveling

Threshold to determine that current leveling appears to be an outlier respect to estimated fused attitude. When leveling and fused attitudes diverge, fusion is not performed, and instead only gyroscope relative attitude is used for fusion estimation.

Threshold to determine when fused attitude has largely diverged for a given number of samples and must be reset.

listener to notify new leveled relative attitudes.

Time interval expressed in seconds between consecutive gyroscope measurements

Indicates whether accurate leveling must be used or not.

Indicates whether accurate non-leveled relative attitude must be used or not.

Indicates whether fusion between leveling and relative attitudes occurs based on changing interpolation value that depends on actual relative attitude rotation velocity.

Updates provided triad to contain gravity component of specific force expressed in NED coordinates and in meters per squared second (m/s^2).

Processes provided synced measurement to estimate current leveled relative attitude.

Resets internal parameters.