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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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21
src/core/hid/motion_input.cpp
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@ -37,11 +37,17 @@ void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
gyro.y = std::clamp(gyro.y, -GyroMaxValue, GyroMaxValue);
gyro.z = std::clamp(gyro.z, -GyroMaxValue, GyroMaxValue);
// Auto adjust drift to minimize drift
// Auto adjust gyro_bias to minimize drift
if (!IsMoving(IsAtRestRelaxed)) {
gyro_bias = (gyro_bias * 0.9999f) + (gyroscope * 0.0001f);
}
// Adjust drift when calibration mode is enabled
if (calibration_mode) {
gyro_bias = (gyro_bias * 0.99f) + (gyroscope * 0.01f);
StopCalibration();
}
if (gyro.Length() < gyro_threshold * user_gyro_threshold) {
gyro = {};
} else {
@ -107,6 +113,19 @@ void MotionInput::UpdateRotation(u64 elapsed_time) {
rotations += gyro * sample_period;
}
void MotionInput::Calibrate() {
calibration_mode = true;
calibration_counter = 0;
}
void MotionInput::StopCalibration() {
if (calibration_counter++ > CalibrationSamples) {
calibration_mode = false;
ResetQuaternion();
ResetRotations();
}
}
// Based on Madgwick's implementation of Mayhony's AHRS algorithm.
// https://github.com/xioTechnologies/Open-Source-AHRS-With-x-IMU/blob/master/x-IMU%20IMU%20and%20AHRS%20Algorithms/x-IMU%20IMU%20and%20AHRS%20Algorithms/AHRS/MahonyAHRS.cs
void MotionInput::UpdateOrientation(u64 elapsed_time) {