m b
/
AoA_estimator
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Diff: AoA_Est.h
- Revision:
- 11:8574bb5b92b0
- Parent:
- 8:aaf5cde0aa0a
- Child:
- 13:d221d9ef6338
--- a/AoA_Est.h Thu Apr 28 06:16:10 2016 +0000
+++ b/AoA_Est.h Thu Apr 28 06:21:10 2016 +0000
@@ -97,15 +97,11 @@
for (int i = 0; i < sensors-1; i++) {
distance = distanceFinder(phases[i]);
+ distance = (distance > sensorSep[i]) ? distance - 338400/sampleRate : distance;
angle = acos(distance / sensorSep[i])*180/3.1415923535;
ambigAngles[0][i] = sensorAngles[i] - angle; //Potentially swap +/-
ambigAngles[1][i] = sensorAngles[i] + angle;
- // if (distance > 0) {
- //ambigAngles[0][i] = (int(ambigAngles[0][i]) + 180) % 360; //Check
- //ambigAngles[1][i] = (int(ambigAngles[1][i]) + 180) % 360; //Not sure
- // ambigAngles[0][i] = angle - sensorAngles[i];
- // ambigAngles[1][i] = sensorAngles[i] + angle;
- // }
+
ambigAngles[0][i] = (ambigAngles[0][i] < 0) ? ambigAngles[0][i] + 360 : ambigAngles[0][i];
ambigAngles[1][i] = (ambigAngles[1][i] < 0) ? ambigAngles[1][i] + 360 : ambigAngles[1][i];
}