From 97bd6d641811cafc3ec99879fa53beda1a2334b5 Mon Sep 17 00:00:00 2001 From: Narr the Reg Date: Mon, 8 May 2023 11:17:27 -0600 Subject: core: hid: Allow to calibrate gyro sensor --- src/core/hid/motion_input.h | 11 +++++++++++ 1 file changed, 11 insertions(+) (limited to 'src/core/hid/motion_input.h') 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 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 -- cgit v1.2.3