diff options
| author | liamwhite <liamwhite@users.noreply.github.com> | 2023-05-09 09:47:29 -0400 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2023-05-09 09:47:29 -0400 |
| commit | 5890b96ce5d17e3702805ebfc1601a45295c94d0 (patch) | |
| tree | db8ea76449236b9899e05b34f68000e4c603e64a /src/core/hid/motion_input.h | |
| parent | 1f14b58315f807f62aeb31d0c23b859b501324b7 (diff) | |
| parent | e1838f51a3538fcbce6a43189b219df137d60f27 (diff) | |
Merge pull request #10203 from german77/calibration
core: hid: Allow to calibrate gyro sensor
Diffstat (limited to 'src/core/hid/motion_input.h')
| -rw-r--r-- | src/core/hid/motion_input.h | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/src/core/hid/motion_input.h b/src/core/hid/motion_input.h index 482719359..11678983d 100644 --- a/src/core/hid/motion_input.h +++ b/src/core/hid/motion_input.h @@ -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 |