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core: hid: Allow to calibrate gyro sensor

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Narr the Reg 2023-05-08 11:17:27 -06:00
parent b70a205a96
commit 97bd6d6418
5 changed files with 43 additions and 1 deletions
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11
src/core/hid/motion_input.h
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@ -23,6 +23,8 @@ public:
static constexpr float GyroMaxValue = 5.0f;
static constexpr float AccelMaxValue = 7.0f;
static constexpr std::size_t CalibrationSamples = 300;
explicit MotionInput();
MotionInput(const MotionInput&) = default;
@ -49,6 +51,8 @@ public:
void UpdateRotation(u64 elapsed_time);
void UpdateOrientation(u64 elapsed_time);
void Calibrate();
[[nodiscard]] std::array<Common::Vec3f, 3> GetOrientation() const;
[[nodiscard]] Common::Vec3f GetAcceleration() const;
[[nodiscard]] Common::Vec3f GetGyroscope() const;
@ -61,6 +65,7 @@ public:
[[nodiscard]] bool IsCalibrated(f32 sensitivity) const;
private:
void StopCalibration();
void ResetOrientation();
void SetOrientationFromAccelerometer();
@ -103,6 +108,12 @@ private:
// Use accelerometer values to calculate position
bool only_accelerometer = true;
// When enabled it will aggressively adjust for gyro drift
bool calibration_mode = false;
// Used to auto disable calibration mode
std::size_t calibration_counter = 0;
};
} // namespace Core::HID