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Added tools for evaluating gyroscope accuracy and IMU polling rates. (#13209)

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* Added tools to Test Controller for evaluating gyroscope accuracy and IMU polling rates.

This adds a visual suite to the testcontroller tool to help validate IMU data from new gamepad drivers and HID implementations.

The 3D gizmo renders accumulated rotation using quaternion integration of gyroscope packets. If a controller is rotated 90° in real space, the gizmo should reflect a 90° change, allowing quick detection of incorrect sensitivity or misaligned axes.

Also includes:
- Euler angle readout (pitch, yaw, roll)
- Real-time drift calibration display with noise gating and progress
- Accelerometer vector overlay
- Live polling rate estimation to verify update frequency

Intended for developers working on controller firmware or SDL backend support to confirm correctness of IMU data processing.
This commit is contained in:
Aubrey Hesselgren
2025-06-13 14:01:52 -07:00
committed by GitHub
parent e2239c36d3
commit 913b611ccd
3 changed files with 998 additions and 18 deletions
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30
test/gamepadutils.h
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@@ -48,7 +48,19 @@ enum
#define PRESSED_COLOR 175, 238, 238, SDL_ALPHA_OPAQUE
#define PRESSED_TEXTURE_MOD 175, 238, 238
#define SELECTED_COLOR 224, 255, 224, SDL_ALPHA_OPAQUE
#define GYRO_COLOR_RED 255, 0, 0, SDL_ALPHA_OPAQUE
#define GYRO_COLOR_GREEN 0, 255, 0, SDL_ALPHA_OPAQUE
#define GYRO_COLOR_BLUE 0, 0, 255, SDL_ALPHA_OPAQUE
#define GYRO_COLOR_ORANGE 255, 128, 0, SDL_ALPHA_OPAQUE
/* Shared layout constants */
#define BUTTON_PADDING 12.0f
#define MINIMUM_BUTTON_WIDTH 96.0f
/* Symbol */
#define DEGREE_UTF8 "\xC2\xB0"
#define SQUARED_UTF8 "\xC2\xB2"
#define MICRO_UTF8 "\xC2\xB5"
/* Gamepad image display */
extern GamepadImage *CreateGamepadImage(SDL_Renderer *renderer);
@@ -78,6 +90,7 @@ typedef struct GamepadDisplay GamepadDisplay;
extern GamepadDisplay *CreateGamepadDisplay(SDL_Renderer *renderer);
extern void SetGamepadDisplayDisplayMode(GamepadDisplay *ctx, ControllerDisplayMode display_mode);
extern void SetGamepadDisplayArea(GamepadDisplay *ctx, const SDL_FRect *area);
extern void SetGamepadDisplayGyroDriftCorrection(GamepadDisplay *ctx, float *gyro_drift_correction);
extern int GetGamepadDisplayElementAt(GamepadDisplay *ctx, SDL_Gamepad *gamepad, float x, float y);
extern void SetGamepadDisplayHighlight(GamepadDisplay *ctx, int element, bool pressed);
extern void SetGamepadDisplaySelected(GamepadDisplay *ctx, int element);
@@ -118,6 +131,7 @@ extern void DestroyJoystickDisplay(JoystickDisplay *ctx);
typedef struct GamepadButton GamepadButton;
extern GamepadButton *CreateGamepadButton(SDL_Renderer *renderer, const char *label);
extern void SetGamepadButtonLabel(GamepadButton *ctx, const char *label);
extern void SetGamepadButtonArea(GamepadButton *ctx, const SDL_FRect *area);
extern void GetGamepadButtonArea(GamepadButton *ctx, SDL_FRect *area);
extern void SetGamepadButtonHighlight(GamepadButton *ctx, bool highlight, bool pressed);
@@ -127,6 +141,22 @@ extern bool GamepadButtonContains(GamepadButton *ctx, float x, float y);
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 0.125f
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 GamepadButton *GetGyroResetButton(GyroDisplay *ctx);
extern GamepadButton *GetGyroCalibrateButton(GyroDisplay *ctx);
extern void RenderGyroDisplay(GyroDisplay *ctx, GamepadDisplay *gamepadElements, SDL_Gamepad *gamepad);
extern void DestroyGyroDisplay(GyroDisplay *ctx);
/* Working with mappings and bindings */
/* Return whether a mapping has any bindings */