IMU: fix mounted_position handling

ThomasFarstrike · ThomasFarstrike · commit 219f55f31066 · 2025-12-07T14:56:56.000+01:00
diff --git a/internal_filesystem/builtin/apps/com.micropythonos.settings/assets/calibrate_imu.py b/internal_filesystem/builtin/apps/com.micropythonos.settings/assets/calibrate_imu.py
@@ -85,7 +85,6 @@ def onCreate(self):
         btn_cont.set_height(lv.SIZE_CONTENT)
         btn_cont.set_style_border_width(0, 0)
         btn_cont.set_flex_flow(lv.FLEX_FLOW.ROW)
-        btn_cont.set_style_pad_all(1,0)
         btn_cont.set_style_flex_main_place(lv.FLEX_ALIGN.SPACE_BETWEEN, 0)
 
         # Action button
@@ -135,7 +134,7 @@ def update_ui_for_state(self):
         """Update UI based on current state."""
         if self.current_state == CalibrationState.READY:
             self.status_label.set_text("Place device on flat, stable surface\n\nKeep device completely still during calibration")
-            self.detail_label.set_text("Calibration will take ~2 seconds\nUI will freeze during calibration")
+            self.detail_label.set_text("Calibration will take ~1 seconds\nUI will freeze during calibration")
             self.action_button_label.set_text("Calibrate Now")
             self.action_button.remove_state(lv.STATE.DISABLED)
             self.progress_bar.add_flag(lv.obj.FLAG.HIDDEN)
@@ -187,7 +186,7 @@ def start_calibration_process(self):
             if self.is_desktop:
                 stationarity = {'is_stationary': True, 'message': 'Mock: Stationary'}
             else:
-                stationarity = SensorManager.check_stationarity(samples=30)
+                stationarity = SensorManager.check_stationarity(samples=25)
 
             if stationarity is None or not stationarity['is_stationary']:
                 msg = stationarity['message'] if stationarity else "Stationarity check failed"
@@ -206,12 +205,12 @@ def start_calibration_process(self):
                 gyro = SensorManager.get_default_sensor(SensorManager.TYPE_GYROSCOPE)
 
                 if accel:
-                    accel_offsets = SensorManager.calibrate_sensor(accel, samples=100)
+                    accel_offsets = SensorManager.calibrate_sensor(accel, samples=50)
                 else:
                     accel_offsets = None
 
                 if gyro:
-                    gyro_offsets = SensorManager.calibrate_sensor(gyro, samples=100)
+                    gyro_offsets = SensorManager.calibrate_sensor(gyro, samples=50)
                 else:
                     gyro_offsets = None
 
diff --git a/internal_filesystem/lib/mpos/board/linux.py b/internal_filesystem/lib/mpos/board/linux.py
@@ -116,7 +116,7 @@ def adc_to_voltage(adc_value):
 
 # Initialize with no I2C bus - will detect MCU temp if available
 # (On Linux desktop, this will fail gracefully but set _initialized flag)
-SensorManager.init(None)
+SensorManager.init(None, mounted_position=SensorManager.FACING_EARTH)
 
 print("linux.py finished")
 
diff --git a/internal_filesystem/lib/mpos/sensor_manager.py b/internal_filesystem/lib/mpos/sensor_manager.py
@@ -87,7 +87,7 @@ def init(i2c_bus, address=0x6B, mounted_position=FACING_SKY):
     Returns:
         bool: True if initialized successfully
     """
-    global _i2c_bus, _i2c_address, _initialized, _has_mcu_temperature
+    global _i2c_bus, _i2c_address, _initialized, _has_mcu_temperature, _mounted_position
 
     _i2c_bus = i2c_bus
     _i2c_address = address
@@ -226,7 +226,7 @@ def read_sensor(sensor):
                 if sensor.type == TYPE_ACCELEROMETER:
                     if _imu_driver:
                         ax, ay, az = _imu_driver.read_acceleration()
-                        if _mounted_position == SensorManager.FACING_EARTH:
+                        if _mounted_position == FACING_EARTH:
                             az += _GRAVITY
                         return (ax, ay, az)
                 elif sensor.type == TYPE_GYROSCOPE:
