core-motion

# CoreMotion

Read device sensor data -- accelerometer, gyroscope, magnetometer, pedometer,
activity recognition, altitude, headphone motion, batched motion, and submersion
depth -- on iOS and watchOS. CoreMotion fuses raw sensor inputs into processed
device-motion data and provides pedometer/activity APIs for fitness and
navigation use cases. Targets Swift 6.3 / iOS 26+.

## Contents

- [Setup](#setup)
- [CMMotionManager: Sensor Data](#cmmotionmanager-sensor-data)
- [Processed Device Motion](#processed-device-motion)
- [CMPedometer: Step and Distance Data](#cmpedometer-step-and-distance-data)
- [CMMotionActivityManager: Activity Recognition](#cmmotionactivitymanager-activity-recognition)
- [CMAltimeter: Altitude Data](#cmaltimeter-altitude-data)
- [Update Intervals and Battery](#update-intervals-and-battery)
- [Common Mistakes](#common-mistakes)
- [Review Checklist](#review-checklist)
- [References](#references)

## Setup

### Info.plist

Add `NSMotionUsageDescription` to Info.plist with a user-facing string explaining
why your app needs motion data. Without this key, the app crashes on first access.

```xml
<key>NSMotionUsageDescription</key>
<string>This app uses motion data to track your activity.</string>
```

### Authorization

Use the matching manager's `authorizationStatus()` or `authorizationStatus`
property when an API exposes one (`CMPedometer`, `CMMotionActivityManager`,
`CMAltimeter`, headphone motion, batched sensors, and submersion). Raw
`CMMotionManager` accelerometer/gyro/device-motion streams have no explicit
authorization request API; still ship the usage string and handle errors from
start/update callbacks.

```swift
import CoreMotion

let status = CMMotionActivityManager.authorizationStatus()
switch status {
case .notDetermined:
    // Will prompt on first use
    break
case .authorized:
    break
case .restricted, .denied:
    // Direct user to Settings
    break
@unknown default:
    break
}
```

## CMMotionManager: Sensor Data

Create exactly **one** `CMMotionManager` per app. Multiple instances degrade
sensor update rates.

```swift
import CoreMotion

let motionManager = CMMotionManager()
```

### Accelerometer Updates

```swift
guard motionManager.isAccelerometerAvailable else { return }

motionManager.accelerometerUpdateInterval = 1.0 / 60.0  // 60 Hz

motionManager.startAccelerometerUpdates(to: .main) { data, error in
    guard let acceleration = data?.acceleration else { return }
    print("x: \(acceleration.x), y: \(acceleration.y), z: \(acceleration.z)")
}

// When done:
motionManager.stopAccelerometerUpdates()
```

### Gyroscope Updates

```swift
guard motionManager.isGyroAvailable else { return }

motionManager.gyroUpdateInterval = 1.0 / 60.0

motionManager.startGyroUpdates(to: .main) { data, error in
    guard let rotationRate = data?.rotationRate else { return }
    print("x: \(rotationRate.x), y: \(rotationRate.y), z: \(rotationRate.z)")
}

motionManager.stopGyroUpdates()
```

### Polling Pattern (Games)

For games, start updates without a handler and poll the latest sample each frame:

```swift
motionManager.startAccelerometerUpdates()

// In your game loop / display link:
if let data = motionManager.accelerometerData {
    let tilt = data.acceleration.x
    // Move player based on tilt
}
```

## Processed Device Motion

Device motion fuses accelerometer, gyroscope, and magnetometer into a single
`CMDeviceMotion` object with attitude, user acceleration (gravity removed),
rotation rate, and calibrated magnetic field.

When giving device-motion guidance, show the runtime frame check in the snippet
instead of hard-coding a corrected, magnetic-north, or true-north frame. Fall
back to `.xArbitraryZVertical` when the preferred frame is unavailable.

```swift
guard motionManager.isDeviceMotionAvailable else { return }

let availableFrames = CMMotionManager.availableAttitudeReferenceFrames()
let frame: CMAttitudeReferenceFrame = availableFrames.contains(.xArbitraryCorrectedZVertical)
    ? .xArbitraryCorrectedZVertical
    : .xArbitraryZVertical

motionManager.deviceMotionUpdateInterval = 1.0 / 60.0

motionManager.startDeviceMotionUpdates(
    using: frame,
    to: .main
) { motion, error in
    guard let motion else { return }

    let attitude = motion.attitude       // roll, pitch, yaw
    let userAccel = motion.userAcceleration
    let gravity = motion.gravity
    let heading = motion.heading         // degrees relative to the current frame

    print("Pitch: \(attitude.pitch), Roll: \(attitude.roll)")
}

motionManager.stopDeviceMotionUpdates()
```

### Attitude Reference Frames

For simple tilt controls, use `.xArbitraryZVertical` or
`.xArbitraryCorrectedZVertical`; they avoid magnetometer/location dependencies.
Before requesting corrected, magnetic-north, or true-north frames, call
`CMMotionManager.availableAttitudeReferenceFrames()` and fall back to an
available frame.

| Frame | Use Case |
|---|---|
| `.xArbitraryZVertical` | Default. Z is vertical, X arbitrary at start. Most games. |
| `.xArbitraryCorrectedZVertical` | Same as above, corrected for gyro drift over time. |
| `.xMagneticNorthZVertical` | X points to magnetic north. Requires magnetometer. |
| `.xTrueNorthZVertical` | X points to true north. Requires magnetometer + location. |

Check available frames before use:

```swift
let available = CMMotionManager.availableAttitudeReferenceFrames()
if available.contains(.xTrueNorthZVertical) {
    // Safe to use true north
}
```

## CMPedometer: Step and Distance Data

`CMPedometer` provides step counts, distance, pace, cadence, and floor counts.

```swift
let pedometer = CMPedometer()

guard CMPedometer.isStepCountingAvailable() else { return }

// Historical query
pedometer.queryPedometerData(
    from: Calendar.current.startOfDay(for: Date()),
    to: Date()
) { data, error in
    guard let data else { return }
    print("Steps today: \(data.numberOfSteps)")
    print("Distance: \(data.distance?.doubleValue ?? 0) meters")
    print("Floors up: \