Increase freshness timeout
Since the head tracker HID spec allows sampling intervals as long as
20ms, setting the freshness timeout to 40ms may result in a staleness
condition if losing one sample.
This change increases to 50ms and also expresses it in terms of time
instead of number of samples, as the actual sample rate might deviate
from the requested one and it becomes confusing.
Bug: This came from a partner request.
Test: Manual verification of SA operation.
Change-Id: I2ec8ceb7cadb4cd8dd4daa681d8770fefdb15f30
diff --git a/services/audiopolicy/service/SpatializerPoseController.cpp b/services/audiopolicy/service/SpatializerPoseController.cpp
index 58a57ac..ce076dd 100644
--- a/services/audiopolicy/service/SpatializerPoseController.cpp
+++ b/services/audiopolicy/service/SpatializerPoseController.cpp
@@ -46,9 +46,8 @@
// high will result in high prediction errors whenever the head accelerates (changes velocity).
constexpr auto kPredictionDuration = 50ms;
-// After losing this many consecutive samples from either sensor, we would treat the measurement as
-// stale;
-constexpr auto kMaxLostSamples = 4;
+// After not getting a pose sample for this long, we would treat the measurement as stale.
+constexpr auto kFreshnessTimeout = 50ms;
// Auto-recenter kicks in after the head has been still for this long.
constexpr auto kAutoRecenterWindowDuration = 6s;
@@ -86,7 +85,7 @@
mProcessor(createHeadTrackingProcessor(HeadTrackingProcessor::Options{
.maxTranslationalVelocity = kMaxTranslationalVelocity / kTicksPerSecond,
.maxRotationalVelocity = kMaxRotationalVelocity / kTicksPerSecond,
- .freshnessTimeout = Ticks(sensorPeriod * kMaxLostSamples).count(),
+ .freshnessTimeout = Ticks(kFreshnessTimeout).count(),
.predictionDuration = Ticks(kPredictionDuration).count(),
.autoRecenterWindowDuration = Ticks(kAutoRecenterWindowDuration).count(),
.autoRecenterTranslationalThreshold = kAutoRecenterTranslationThreshold,