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Accelerometer Tolerance is now calibrated before Gyro Drift.

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This commit is contained in:
Aubrey Hesselgren
2025-07-21 16:39:32 -07:00
committed by Sam Lantinga
parent 07ef532681
commit 6bfc54508c
3 changed files with 187 additions and 71 deletions
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18
test/gamepadutils.h
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@@ -142,16 +142,26 @@ extern void RenderGamepadButton(GamepadButton *ctx);
extern void DestroyGamepadButton(GamepadButton *ctx);
/* Gyro element Display */
/* If you want to calbirate against a known rotation (i.e. a turn table test) Increase ACCELEROMETER_NOISE_THRESHOLD to about 5, or drift correction will be constantly reset.*/
#define ACCELEROMETER_NOISE_THRESHOLD 0.5f
/* This is used as the initial noise tolernace threshold. It's set very close to zero to avoid divide by zero while we're evaluating the noise profile. Each controller may have a very different noise profile.*/
#define ACCELEROMETER_NOISE_THRESHOLD 1e-6f
/* Gyro Calibration Phases */
typedef enum
{
GYRO_CALIBRATION_PHASE_OFF, /* Calibration has not yet been evaluated - signal to the user to put the controller on a flat surface before beginning the calibration process */
GYRO_CALIBRATION_PHASE_NOISE_PROFILING, /* Find the max accelerometer noise for a fixed period */
GYRO_CALIBRATION_PHASE_DRIFT_PROFILING, /* Find the drift while the accelerometer is below the accelerometer noise tolerance */
GYRO_CALIBRATION_PHASE_COMPLETE, /* Calibration has finished */
} EGyroCalibrationPhase;
typedef struct Quaternion Quaternion;
typedef struct GyroDisplay GyroDisplay;
extern void InitCirclePoints3D();
extern GyroDisplay *CreateGyroDisplay(SDL_Renderer *renderer);
extern void SetGyroDisplayArea(GyroDisplay *ctx, const SDL_FRect *area);
extern bool BHasCachedGyroDriftSolution(GyroDisplay *ctx);
extern void SetGamepadDisplayIMUValues(GyroDisplay *ctx, float *gyro_drift_solution, float *euler_displacement_angles, Quaternion *gyro_quaternion, int reported_senor_rate_hz, int estimated_sensor_rate_hz, float drift_calibration_progress_frac, float accelerometer_noise_sq);
extern void SetGamepadDisplayIMUValues(GyroDisplay *ctx, float *gyro_drift_solution, float *euler_displacement_angles, Quaternion *gyro_quaternion, int reported_senor_rate_hz, int estimated_sensor_rate_hz, EGyroCalibrationPhase calibration_phase, float drift_calibration_progress_frac, float accelerometer_noise_sq, float accelerometer_noise_tolerance_sq);
extern GamepadButton *GetGyroResetButton(GyroDisplay *ctx);
extern GamepadButton *GetGyroCalibrateButton(GyroDisplay *ctx);
extern void RenderGyroDisplay(GyroDisplay *ctx, GamepadDisplay *gamepadElements, SDL_Gamepad *gamepad);