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authorgerman <german@thesoftwareartisans.com>2020-08-26 23:49:24 +0200
committergerman <german@thesoftwareartisans.com>2020-08-28 00:19:21 +0200
commit1be18dc110e1c7193930c62542855c91179d179b (patch)
tree5ce63dd785b321255cb3479a27fcfa91305f5a51
parentAddress comments (diff)
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-rw-r--r--src/input_common/motion_input.cpp43
-rw-r--r--src/input_common/motion_input.h2
2 files changed, 31 insertions, 14 deletions
diff --git a/src/input_common/motion_input.cpp b/src/input_common/motion_input.cpp
index c86a53106..88fddb1b9 100644
--- a/src/input_common/motion_input.cpp
+++ b/src/input_common/motion_input.cpp
@@ -37,18 +37,25 @@ void MotionInput::ResetRotations() {
}
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 {
- return real_error.Length() > sensitivity;
+ return real_error.Length() < sensitivity;
}
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) {
+ if (!IsCalibrated(0.1f)) {
+ ResetOrientation();
+ }
// Short name local variable for readability
f32 q1 = quat.w;
f32 q2 = quat.xyz[0];
@@ -56,12 +63,20 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
f32 q4 = quat.xyz[2];
const f32 sample_period = elapsed_time / 1000000.0f;
+ // ignore invalid elapsed time
+ if (sample_period > 0.1f) {
+ return;
+ }
+
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;
- // Ignore drift correction if acceleration is not present
- if (normal_accel.Length() == 1.0f) {
+ // Ignore drift correction if acceleration is not reliable
+ if (accel.Length() >= 0.75f && accel.Length() <= 1.25f) {
const f32 ax = -normal_accel.x;
const f32 ay = normal_accel.y;
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;
// 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};
derivative_error = new_real_error - real_error;
real_error = new_real_error;
// Prevent integral windup
- if (ki != 0.0f) {
+ if (ki != 0.0f && !IsCalibrated(0.05f)) {
integral_error += real_error;
} else {
integral_error = {};
@@ -112,13 +127,15 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
}
std::array<Common::Vec3f, 3> MotionInput::GetOrientation() const {
- const Common::Quaternion<float> quad{.xyz = {-quat.xyz[1], -quat.xyz[0], -quat.w},
- .w = -quat.xyz[2]};
+ const Common::Quaternion<float> quad{
+ .xyz = {-quat.xyz[1], -quat.xyz[0], -quat.w},
+ .w = -quat.xyz[2],
+ };
const std::array<float, 16> matrix4x4 = quad.ToMatrix();
- return {Common::Vec3f(matrix4x4[0], matrix4x4[1], matrix4x4[2]),
- Common::Vec3f(matrix4x4[4], matrix4x4[5], matrix4x4[6]),
- Common::Vec3f(matrix4x4[8], matrix4x4[9], matrix4x4[10])};
+ return {Common::Vec3f(matrix4x4[0], matrix4x4[1], -matrix4x4[2]),
+ Common::Vec3f(matrix4x4[4], matrix4x4[5], -matrix4x4[6]),
+ Common::Vec3f(-matrix4x4[8], -matrix4x4[9], matrix4x4[10])};
}
Common::Vec3f MotionInput::GetAcceleration() const {
diff --git a/src/input_common/motion_input.h b/src/input_common/motion_input.h
index d1a7a9e13..445798a54 100644
--- a/src/input_common/motion_input.h
+++ b/src/input_common/motion_input.h
@@ -61,7 +61,7 @@ private:
Common::Vec3f gyro_drift;
f32 gyro_threshold = 0.0f;
- f32 reset_counter = 0.0f;
+ u32 reset_counter = 0;
bool reset_enabled = true;
};