feat: configurable reference frame for a north-referenced azimuth#96
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camilleRiquet wants to merge 69 commits into
Closed
feat: configurable reference frame for a north-referenced azimuth#96camilleRiquet wants to merge 69 commits into
camilleRiquet wants to merge 69 commits into
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Displays whether the current platform (e.g., Android/iOS) supports rotation sensing.
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Thanks for the PR @camilleRiquet ! 🙏 |
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I cannot merge this directly as it currently has conflicts and I don't have permission to edit your PR branch. Instead, I have cherry-picked your commits into the main branch and added your credit to the README. I will be closing this PR now. Also, version v0.3.0 has been published, so please feel free to take a look! |
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Closes #95
Motivation
The azimuth is inconsistent across platforms:
Details and a reproduction are in #95.
What this PR does
Adds an opt-in RotationSensor.referenceFrame:
enum ReferenceFrame { device, magneticNorth, trueNorth }
RotationSensor.referenceFrame = ReferenceFrame.magneticNorth;
iOS
Maps the value to the matching CMAttitudeReferenceFrame. CoreMotion expresses a north frame as (north, west, up), whereas this package's documented world is (east, north, up). For north frames the attitude quaternion is rotated
90° about the vertical axis so the emitted orientation matches the package convention and the azimuth stays 0 == north, consistent with Android. The frame is re-applied (sensor restarted) when the value changes mid-stream.
Android
TYPE_ROTATION_VECTOR is already magnetic-north / east-north-up, so all values keep using it. True north would need the local geomagnetic declination (requires a location fix); until then trueNorth behaves like magneticNorth on
Android (documented in the enum).
Notes
Testing
Verified on a physical iOS device with magneticNorth: pointing north reads ~0°, east ~90°; the heading is stable under pitch/roll and only changes when rotating about the vertical axis; consistent across cold launches. Android
behavior unchanged.
Disclaimer
Sorry about the previous pull request; I meant to submit a pull request on my fork but made a mistake.
As mentioned in issue #95, I made this change to fix the issue that was discovered, but it might just be that I made a mistake in the initial configuration.