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service/hid: Improve console motion accuracy

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Narr the Reg 2021-11-29 12:40:29 -06:00 • committed by german77
parent 815189eaf3
commit 316f80af87
6 changed files with 32 additions and 20 deletions
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12
src/core/hid/motion_input.cpp
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@ -23,11 +23,11 @@ void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) {
}
void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
gyro = gyroscope - gyro_drift;
gyro = gyroscope - gyro_bias;
// Auto adjust drift to minimize drift
if (!IsMoving(0.1f)) {
gyro_drift = (gyro_drift * 0.9999f) + (gyroscope * 0.0001f);
gyro_bias = (gyro_bias * 0.9999f) + (gyroscope * 0.0001f);
}
if (gyro.Length2() < gyro_threshold) {
@ -41,8 +41,8 @@ void MotionInput::SetQuaternion(const Common::Quaternion<f32>& quaternion) {
quat = quaternion;
}
void MotionInput::SetGyroDrift(const Common::Vec3f& drift) {
gyro_drift = drift;
void MotionInput::SetGyroBias(const Common::Vec3f& bias) {
gyro_bias = bias;
}
void MotionInput::SetGyroThreshold(f32 threshold) {
@ -192,6 +192,10 @@ Common::Vec3f MotionInput::GetGyroscope() const {
return gyro;
}
Common::Vec3f MotionInput::GetGyroBias() const {
return gyro_bias;
}
Common::Quaternion<f32> MotionInput::GetQuaternion() const {
return quat;
}