CODEWITHSUNDEEP
c#unity-game-engineaccelerometerdead-reckoning
Slaventsiy
Slaventsiy

Reputation: 53

Make Unity3d script run faster or acceleration integration problems

I am trying to implement "dead reckoning" using IMU in my Unity project. Currently I can't get good results: the velocity gets negative, so the character moves backwards, or the character sometimes comes forth and back after moving IMU just forward. I suspect the frequency of script being called is not as high as IMU data sending frequency or my script is incorrect. Is there a way to make the method/script called more often? Or is there something I'm doing wrong in the code:

    /// <summary>
    /// This is the coroutine called in the start Method. It keeps running in the background and keeps track of the user making steps.
    /// </summary>
    /// <returns>WaitForSeconds</returns>
    IEnumerator StepcounterLeft()
    {
        float prev_zVel = 0;
        float prev_zAcc = 0;

        for (var a = 0; a < 1;)
        {
            yield return new WaitForSeconds(0.0001f);

            float zAcc = (float)vn100l.CurrentMeasurements.LinearAccelerationBody.Z;
            float zVel = prev_zVel + (prev_zAcc + ((zAcc - prev_zAcc)/2.0f)*Time.deltaTime);
            if (zVel > -0.1 && zVel < 0.1)
                zVel = 0;
            speed = zVel / 10;
            prev_zVel = zVel;
            prev_zAcc = zAcc;
            if ((zAcc > -0.1 && zAcc < 0.1) && (prev_zAcc > -0.1 && prev_zAcc < 0.1))
                prev_zVel = 0;
        }
    }

Upvotes: 1

Views: 488

Answers (1)

Slaventsiy
Slaventsiy

Reputation: 53

Making a new thread through System.Threading provided speed of 0.001 seconds. To read all the values from accelerometer I would need speed of 0.000008 seconds, but seems like this is as fast as it can reach.

Upvotes: 0

Related Questions