diff options
Diffstat (limited to 'services/sensorservice/SensorFusion.cpp')
| -rw-r--r-- | services/sensorservice/SensorFusion.cpp | 32 |
1 files changed, 17 insertions, 15 deletions
diff --git a/services/sensorservice/SensorFusion.cpp b/services/sensorservice/SensorFusion.cpp index 4ec0c8c..518a1bb 100644 --- a/services/sensorservice/SensorFusion.cpp +++ b/services/sensorservice/SensorFusion.cpp @@ -28,23 +28,25 @@ SensorFusion::SensorFusion() mEnabled(false), mGyroTime(0) { sensor_t const* list; - size_t count = mSensorDevice.getSensorList(&list); - for (size_t i=0 ; i<count ; i++) { - if (list[i].type == SENSOR_TYPE_ACCELEROMETER) { - mAcc = Sensor(list + i); - } - if (list[i].type == SENSOR_TYPE_MAGNETIC_FIELD) { - mMag = Sensor(list + i); - } - if (list[i].type == SENSOR_TYPE_GYROSCOPE) { - mGyro = Sensor(list + i); - // 200 Hz for gyro events is a good compromise between precision - // and power/cpu usage. - mGyroRate = 200; - mTargetDelayNs = 1000000000LL/mGyroRate; + ssize_t count = mSensorDevice.getSensorList(&list); + if (count > 0) { + for (size_t i=0 ; i<size_t(count) ; i++) { + if (list[i].type == SENSOR_TYPE_ACCELEROMETER) { + mAcc = Sensor(list + i); + } + if (list[i].type == SENSOR_TYPE_MAGNETIC_FIELD) { + mMag = Sensor(list + i); + } + if (list[i].type == SENSOR_TYPE_GYROSCOPE) { + mGyro = Sensor(list + i); + // 200 Hz for gyro events is a good compromise between precision + // and power/cpu usage. + mGyroRate = 200; + mTargetDelayNs = 1000000000LL/mGyroRate; + } } + mFusion.init(); } - mFusion.init(); } void SensorFusion::process(const sensors_event_t& event) { |