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Merge pull request #7481 from german77/gyro-bias

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service/hid: Improve console motion accuracy
This commit is contained in:
bunnei 2021-12-21 00:13:54 -08:00 • committed by GitHub
commit 5e24f7ed31
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GPG key ID: 4AEE18F83AFDEB23
6 changed files with 32 additions and 20 deletions
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3
src/core/hid/emulated_console.cpp
View file

@ -161,7 +161,10 @@ void EmulatedConsole::SetMotion(const Common::Input::CallbackStatus& callback) {
motion.rotation = emulated.GetGyroscope();
motion.orientation = emulated.GetOrientation();
motion.quaternion = emulated.GetQuaternion();
motion.gyro_bias = emulated.GetGyroBias();
motion.is_at_rest = !emulated.IsMoving(motion_sensitivity);
// Find what is this value
motion.verticalization_error = 0.0f;
TriggerOnChange(ConsoleTriggerType::Motion);
}

2
src/core/hid/emulated_console.h
View file

@ -50,6 +50,8 @@ struct ConsoleMotion {
Common::Vec3f rotation{};
std::array<Common::Vec3f, 3> orientation{};
Common::Quaternion<f32> quaternion{};
Common::Vec3f gyro_bias{};
f32 verticalization_error{};
bool is_at_rest{};
};

12
src/core/hid/motion_input.cpp
View file

@ -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;
}

5
src/core/hid/motion_input.h
View file

@ -24,7 +24,7 @@ public:
void SetAcceleration(const Common::Vec3f& acceleration);
void SetGyroscope(const Common::Vec3f& gyroscope);
void SetQuaternion(const Common::Quaternion<f32>& quaternion);
void SetGyroDrift(const Common::Vec3f& drift);
void SetGyroBias(const Common::Vec3f& bias);
void SetGyroThreshold(f32 threshold);
void EnableReset(bool reset);
@ -36,6 +36,7 @@ public:
[[nodiscard]] std::array<Common::Vec3f, 3> GetOrientation() const;
[[nodiscard]] Common::Vec3f GetAcceleration() const;
[[nodiscard]] Common::Vec3f GetGyroscope() const;
[[nodiscard]] Common::Vec3f GetGyroBias() const;
[[nodiscard]] Common::Vec3f GetRotations() const;
[[nodiscard]] Common::Quaternion<f32> GetQuaternion() const;
@ -69,7 +70,7 @@ private:
Common::Vec3f gyro;
// Vector to be substracted from gyro measurements
Common::Vec3f gyro_drift;
Common::Vec3f gyro_bias;
// Minimum gyro amplitude to detect if the device is moving
f32 gyro_threshold = 0.0f;