core: hid: Allow to calibrate gyro sensor
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@ -688,6 +688,12 @@ void EmulatedController::SetMotionParam(std::size_t index, Common::ParamPackage
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ReloadInput();
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}
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void EmulatedController::StartMotionCalibration() {
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for (ControllerMotionInfo& motion : controller.motion_values) {
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motion.emulated.Calibrate();
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}
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}
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void EmulatedController::SetButton(const Common::Input::CallbackStatus& callback, std::size_t index,
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Common::UUID uuid) {
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if (index >= controller.button_values.size()) {
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@ -290,6 +290,9 @@ public:
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*/
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void SetMotionParam(std::size_t index, Common::ParamPackage param);
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/// Auto calibrates the current motion devices
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void StartMotionCalibration();
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/// Returns the latest button status from the controller with parameters
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ButtonValues GetButtonsValues() const;
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@ -37,11 +37,17 @@ void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
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gyro.y = std::clamp(gyro.y, -GyroMaxValue, GyroMaxValue);
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gyro.z = std::clamp(gyro.z, -GyroMaxValue, GyroMaxValue);
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// Auto adjust drift to minimize drift
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// Auto adjust gyro_bias to minimize drift
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if (!IsMoving(IsAtRestRelaxed)) {
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gyro_bias = (gyro_bias * 0.9999f) + (gyroscope * 0.0001f);
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}
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// Adjust drift when calibration mode is enabled
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if (calibration_mode) {
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gyro_bias = (gyro_bias * 0.99f) + (gyroscope * 0.01f);
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StopCalibration();
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}
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if (gyro.Length() < gyro_threshold * user_gyro_threshold) {
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gyro = {};
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} else {
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@ -107,6 +113,19 @@ void MotionInput::UpdateRotation(u64 elapsed_time) {
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rotations += gyro * sample_period;
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}
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void MotionInput::Calibrate() {
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calibration_mode = true;
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calibration_counter = 0;
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}
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void MotionInput::StopCalibration() {
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if (calibration_counter++ > CalibrationSamples) {
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calibration_mode = false;
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ResetQuaternion();
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ResetRotations();
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}
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}
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// Based on Madgwick's implementation of Mayhony's AHRS algorithm.
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// 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
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void MotionInput::UpdateOrientation(u64 elapsed_time) {
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@ -23,6 +23,8 @@ public:
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static constexpr float GyroMaxValue = 5.0f;
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static constexpr float AccelMaxValue = 7.0f;
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static constexpr std::size_t CalibrationSamples = 300;
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explicit MotionInput();
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MotionInput(const MotionInput&) = default;
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@ -49,6 +51,8 @@ public:
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void UpdateRotation(u64 elapsed_time);
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void UpdateOrientation(u64 elapsed_time);
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void Calibrate();
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[[nodiscard]] std::array<Common::Vec3f, 3> GetOrientation() const;
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[[nodiscard]] Common::Vec3f GetAcceleration() const;
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[[nodiscard]] Common::Vec3f GetGyroscope() const;
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@ -61,6 +65,7 @@ public:
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[[nodiscard]] bool IsCalibrated(f32 sensitivity) const;
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private:
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void StopCalibration();
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void ResetOrientation();
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void SetOrientationFromAccelerometer();
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@ -103,6 +108,12 @@ private:
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// Use accelerometer values to calculate position
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bool only_accelerometer = true;
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// When enabled it will aggressively adjust for gyro drift
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bool calibration_mode = false;
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// Used to auto disable calibration mode
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std::size_t calibration_counter = 0;
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};
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} // namespace Core::HID
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@ -479,6 +479,9 @@ ConfigureInputPlayer::ConfigureInputPlayer(QWidget* parent, std::size_t player_i
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param.Set("threshold", new_threshold / 1000.0f);
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emulated_controller->SetMotionParam(motion_id, param);
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});
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context_menu.addAction(tr("Calibrate sensor"), [&] {
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emulated_controller->StartMotionCalibration();
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});
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}
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context_menu.exec(motion_map[motion_id]->mapToGlobal(menu_location));
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});
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