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