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Enable UWB filtering on all devices

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Enabled distance filtering. All AoA-related primers are disabled, the
rotation vector hardware is disabled and the AoA filter size is set to
the smallest value to save CPU.

Bug: b/237098661
Test: Manual confirmation
Change-Id: Ifc4a877bf2d608a00ae4a9153a99ace58e9618fd
This commit is contained in:
Kenzi Mudge 2023-05-17 15:50:53 -04:00
parent fb8c8f3766
commit becd3ee92d
1 changed files with 46 additions and 0 deletions
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46
rro_overlays/UwbOverlay/res/values/config.xml
View file

@ -17,4 +17,50 @@
*/
-->
<resources>
<!-- When true, the filter engine will alter UWB values to improve accuracy. -->
<bool name="enable_filters">true</bool>
<!-- The size in samples of the sliding window for the AoA filters. Note that this increases
latency to about half the window size. -->
<integer name="filter_angle_window">1</integer>
<!-- Enables elevation estimation. Strongly recommended for hardware that doesn't support
elevation. This helps produce better predictions from pose changes, and improves the quality
of the AoA primer. -->
<bool name="enable_primer_est_elevation">false</bool>
<!-- Enables the AoA conversion primer. This is needed on hardware that does not convert AoA
to spherical coordinates, including hardware that does not support elevation.-->
<bool name="enable_primer_aoa">false</bool>
<!-- Selects which pose source will be used by default to anticipate the next UWB measurement.
The pose source helps lower latency by shifting the filter states to reflect how the phone has
moved.
NONE = No pose source.
ROTATION_VECTOR = Requires gyro, accel and compass. Very accurate, rotation only.
GYRO = Gyro only. Less accurate, Saves a tiny bit of power.
SIXDOF = 6DOF sensor. Extremely accurate, accounts for position. Not available on most hardware.
DOUBLE_INTEGRATE = Double integration. Under development. Expect very bad motion drift.
-->
<string name="pose_source_type">NONE</string>
<!-- Sets the field of view, in degrees. Note that this is in degrees from 0 (straight ahead),
which is not the same as how camera FOV is represented.
UWB values outside the field of view will be replaced with predicted values based on pose
changes. The FOV is circular, so a value of 90 will only provide continuous azimuth values if
elevation is zero.
If <=0 or >=180, the primer will be disabled, allowing an unlimited field of view. -->
<integer name="primer_fov_degrees">0</integer>
<!-- Enables the back azimuth primer. This is needed on hardware that does not report azimuth
values beyond +/-90deg. This primer determines if azimuth values are likely to be coming from
behind the phone in three ways:
1. The prediction expects the next reading to come from behind the user because the user has
rotated away from the signal.
2. Predictions based on pose changes inversely correlate with azimuth readings.
3. UWB readings show very little relationship to pose changes because of non-line-of-sight
conditions.
This works best with an FOV primer setting below 90 degrees to ensure that predictions are being
used across the 90-degree threshold. -->
<bool name="enable_azimuth_mirroring">false</bool>
</resources>