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POCoreMotion iOS 5 attitude with reference frame doesn't work
 

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  1. POCoreMotion iOS 5 attitude with reference frame doesn't work
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    <p>i'm trying the new features of CoreMotion, above all the possibility to set the reference frame, but if i use a DeviceMotionHandler and the reference frame set to CMAttitudeReferenceFrameXTrueNorthZVertical the output is the some of CMAttitudeReferenceFrameXArbitraryCorrectedZVertical. i start the app with the iphone always in the same yaw rotation respect my desk, and i test different initial yaw rotation, but the result is always the same.</p> <pre><code>motionManager = [[CMMotionManager alloc] init]; motionManager.showsDeviceMovementDisplay = YES; motionManager.deviceMotionUpdateInterval = 1.0/60.0; CMDeviceMotionHandler motionHandler = ^ (CMDeviceMotion *motion, NSError *error) { NSLog(@"%f %f %f", motion.attitude.pitch, motion.attitude.roll, motion.attitude.yaw); }; [motionManager startDeviceMotionUpdatesUsingReferenceFrame:CMAttitudeReferenceFrameXTrueNorthZVertical toQueue:[NSOperationQueue currentQueue] withHandler:motionHandler]; </code></pre> <p>i found the solution of my problem, but i can't understand why the previous code doesn't work. I add just a CMAttitude variable *a in motionHandler.</p> <pre><code>- (void)viewDidLoad { [super viewDidLoad]; motionManager = [[CMMotionManager alloc] init]; motionManager.showsDeviceMovementDisplay = YES; motionManager.deviceMotionUpdateInterval = 1.0/60.0; CMDeviceMotionHandler motionHandler = ^ (CMDeviceMotion *motion, NSError *error) { CMAttitude *a = motionManager.deviceMotion.attitude; labelAngle.text = [NSString stringWithFormat:@"%f %f %f",a.pitch, a.roll,a.yaw]; labelAngle2.text = [NSString stringWithFormat:@"%f %f %f", motion.attitude.pitch, motion.attitude.roll, motion.attitude.yaw]; }; [motionManager startDeviceMotionUpdatesUsingReferenceFrame:CMAttitudeReferenceFrameXTrueNorthZVertical toQueue:[NSOperationQueue currentQueue] withHandler:motionHandler];} </code></pre>
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    1. COI see the same behavior. The attitude in the motion parameter that is passed to the block seems to be the "normal" attitude, while the attitude in the deviceMotion property seems to be compensated with the reference frame. I wonder if this is a bug, or whether I can rely on this behaviour, as it is quite useful. Combining the two makes it possible to compensate for the quirky magnetic behaviour of iPhone with a stable gyro derived direction.
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    2. COI have reported this as a bug towards Apple: https://bugreport.apple.com/cgi-bin/WebObjects/RadarWeb.woa/59/wo/1sukWbI5nvOZQ2Y6MPBXnw/14.66
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