mirror of
https://git.suyu.dev/suyu/suyu.git
synced 2024-11-29 14:57:41 -05:00
Fix orientation errors and improve drift correction
This commit is contained in:
parent
e6fc3b5662
commit
1be18dc110
2 changed files with 31 additions and 14 deletions
|
@ -37,18 +37,25 @@ void MotionInput::ResetRotations() {
|
||||||
}
|
}
|
||||||
|
|
||||||
bool MotionInput::IsMoving(f32 sensitivity) const {
|
bool MotionInput::IsMoving(f32 sensitivity) const {
|
||||||
return gyro.Length2() >= sensitivity || accel.Length() <= 0.9f || accel.Length() >= 1.1f;
|
return gyro.Length() >= sensitivity || accel.Length() <= 0.9f || accel.Length() >= 1.1f;
|
||||||
}
|
}
|
||||||
|
|
||||||
bool MotionInput::IsCalibrated(f32 sensitivity) const {
|
bool MotionInput::IsCalibrated(f32 sensitivity) const {
|
||||||
return real_error.Length() > sensitivity;
|
return real_error.Length() < sensitivity;
|
||||||
}
|
}
|
||||||
|
|
||||||
void MotionInput::UpdateRotation(u64 elapsed_time) {
|
void MotionInput::UpdateRotation(u64 elapsed_time) {
|
||||||
rotations += gyro * elapsed_time;
|
const f32 sample_period = elapsed_time / 1000000.0f;
|
||||||
|
if (sample_period > 0.1f) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
rotations += gyro * sample_period;
|
||||||
}
|
}
|
||||||
|
|
||||||
void MotionInput::UpdateOrientation(u64 elapsed_time) {
|
void MotionInput::UpdateOrientation(u64 elapsed_time) {
|
||||||
|
if (!IsCalibrated(0.1f)) {
|
||||||
|
ResetOrientation();
|
||||||
|
}
|
||||||
// Short name local variable for readability
|
// Short name local variable for readability
|
||||||
f32 q1 = quat.w;
|
f32 q1 = quat.w;
|
||||||
f32 q2 = quat.xyz[0];
|
f32 q2 = quat.xyz[0];
|
||||||
|
@ -56,12 +63,20 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
|
||||||
f32 q4 = quat.xyz[2];
|
f32 q4 = quat.xyz[2];
|
||||||
const f32 sample_period = elapsed_time / 1000000.0f;
|
const f32 sample_period = elapsed_time / 1000000.0f;
|
||||||
|
|
||||||
|
// ignore invalid elapsed time
|
||||||
|
if (sample_period > 0.1f) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
const auto normal_accel = accel.Normalized();
|
const auto normal_accel = accel.Normalized();
|
||||||
auto rad_gyro = gyro * 3.1415926535f;
|
auto rad_gyro = gyro * 3.1415926535f * 2;
|
||||||
|
const f32 swap = rad_gyro.x;
|
||||||
|
rad_gyro.x = rad_gyro.y;
|
||||||
|
rad_gyro.y = -swap;
|
||||||
rad_gyro.z = -rad_gyro.z;
|
rad_gyro.z = -rad_gyro.z;
|
||||||
|
|
||||||
// Ignore drift correction if acceleration is not present
|
// Ignore drift correction if acceleration is not reliable
|
||||||
if (normal_accel.Length() == 1.0f) {
|
if (accel.Length() >= 0.75f && accel.Length() <= 1.25f) {
|
||||||
const f32 ax = -normal_accel.x;
|
const f32 ax = -normal_accel.x;
|
||||||
const f32 ay = normal_accel.y;
|
const f32 ay = normal_accel.y;
|
||||||
const f32 az = -normal_accel.z;
|
const f32 az = -normal_accel.z;
|
||||||
|
@ -72,14 +87,14 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
|
||||||
const f32 vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
|
const f32 vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
|
||||||
|
|
||||||
// Error is cross product between estimated direction and measured direction of gravity
|
// Error is cross product between estimated direction and measured direction of gravity
|
||||||
const Common::Vec3f new_real_error = {ay * vz - az * vy, az * vx - ax * vz,
|
const Common::Vec3f new_real_error = {az * vx - ax * vz, ay * vz - az * vy,
|
||||||
ax * vy - ay * vx};
|
ax * vy - ay * vx};
|
||||||
|
|
||||||
derivative_error = new_real_error - real_error;
|
derivative_error = new_real_error - real_error;
|
||||||
real_error = new_real_error;
|
real_error = new_real_error;
|
||||||
|
|
||||||
// Prevent integral windup
|
// Prevent integral windup
|
||||||
if (ki != 0.0f) {
|
if (ki != 0.0f && !IsCalibrated(0.05f)) {
|
||||||
integral_error += real_error;
|
integral_error += real_error;
|
||||||
} else {
|
} else {
|
||||||
integral_error = {};
|
integral_error = {};
|
||||||
|
@ -112,13 +127,15 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
|
||||||
}
|
}
|
||||||
|
|
||||||
std::array<Common::Vec3f, 3> MotionInput::GetOrientation() const {
|
std::array<Common::Vec3f, 3> MotionInput::GetOrientation() const {
|
||||||
const Common::Quaternion<float> quad{.xyz = {-quat.xyz[1], -quat.xyz[0], -quat.w},
|
const Common::Quaternion<float> quad{
|
||||||
.w = -quat.xyz[2]};
|
.xyz = {-quat.xyz[1], -quat.xyz[0], -quat.w},
|
||||||
|
.w = -quat.xyz[2],
|
||||||
|
};
|
||||||
const std::array<float, 16> matrix4x4 = quad.ToMatrix();
|
const std::array<float, 16> matrix4x4 = quad.ToMatrix();
|
||||||
|
|
||||||
return {Common::Vec3f(matrix4x4[0], matrix4x4[1], matrix4x4[2]),
|
return {Common::Vec3f(matrix4x4[0], matrix4x4[1], -matrix4x4[2]),
|
||||||
Common::Vec3f(matrix4x4[4], matrix4x4[5], matrix4x4[6]),
|
Common::Vec3f(matrix4x4[4], matrix4x4[5], -matrix4x4[6]),
|
||||||
Common::Vec3f(matrix4x4[8], matrix4x4[9], matrix4x4[10])};
|
Common::Vec3f(-matrix4x4[8], -matrix4x4[9], matrix4x4[10])};
|
||||||
}
|
}
|
||||||
|
|
||||||
Common::Vec3f MotionInput::GetAcceleration() const {
|
Common::Vec3f MotionInput::GetAcceleration() const {
|
||||||
|
|
|
@ -61,7 +61,7 @@ private:
|
||||||
Common::Vec3f gyro_drift;
|
Common::Vec3f gyro_drift;
|
||||||
|
|
||||||
f32 gyro_threshold = 0.0f;
|
f32 gyro_threshold = 0.0f;
|
||||||
f32 reset_counter = 0.0f;
|
u32 reset_counter = 0;
|
||||||
bool reset_enabled = true;
|
bool reset_enabled = true;
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
Loading…
Reference in a new issue