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InputCommon: Add calibration functionality to IMUGyroscope.

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This commit is contained in:
Jordan Woyak
2020-02-11 17:30:16 -06:00
parent 9efcd08ea3
commit 1e652d7d34
4 changed files with 132 additions and 15 deletions
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31
Source/Core/DolphinQt/Config/Mapping/MappingIndicator.cpp
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@ -159,10 +159,12 @@ bool IsCalibrationDataSensible(const ControllerEmu::ReshapableInput::Calibration
// Even the GC controller's small range would pass this test.
constexpr double REASONABLE_AVERAGE_RADIUS = 0.6;
const double sum = std::accumulate(data.begin(), data.end(), 0.0);
const double mean = sum / data.size();
MathUtil::RunningVariance<ControlState> stats;
if (mean < REASONABLE_AVERAGE_RADIUS)
for (auto& x : data)
stats.Push(x);
if (stats.Mean() < REASONABLE_AVERAGE_RADIUS)
{
return false;
}
@ -173,11 +175,7 @@ bool IsCalibrationDataSensible(const ControllerEmu::ReshapableInput::Calibration
// Approx. deviation of a square input gate, anything much more than that would be unusual.
constexpr double REASONABLE_DEVIATION = 0.14;
// Population standard deviation.
const double square_sum = std::inner_product(data.begin(), data.end(), data.begin(), 0.0);
const double standard_deviation = std::sqrt(square_sum / data.size() - mean * mean);
return standard_deviation < REASONABLE_DEVIATION;
return stats.StandardDeviation() < REASONABLE_DEVIATION;
}
// Used to test for a miscalibrated stick so the user can be informed.
@ -805,6 +803,8 @@ void GyroMappingIndicator::paintEvent(QPaintEvent*)
const auto gyro_state = m_gyro_group.GetState();
const auto raw_gyro_state = m_gyro_group.GetRawState();
const auto angular_velocity = gyro_state.value_or(Common::Vec3{});
const auto jitter = raw_gyro_state - m_previous_velocity;
m_previous_velocity = raw_gyro_state;
m_state *= Common::Matrix33::FromQuaternion(angular_velocity.x / -INDICATOR_UPDATE_FREQ / 2,
angular_velocity.y / INDICATOR_UPDATE_FREQ / 2,
@ -855,12 +855,12 @@ void GyroMappingIndicator::paintEvent(QPaintEvent*)
if (gyro_state.has_value())
{
const auto max_velocity = std::max(
{std::abs(raw_gyro_state.x), std::abs(raw_gyro_state.y), std::abs(raw_gyro_state.z)});
const auto max_velocity_line_y =
std::min(max_velocity / deadzone_value * DEADZONE_DRAW_SIZE - DEADZONE_DRAW_BOTTOM, 1.0);
const auto max_jitter =
std::max({std::abs(jitter.x), std::abs(jitter.y), std::abs(jitter.z)});
const auto jitter_line_y =
std::min(max_jitter / deadzone_value * DEADZONE_DRAW_SIZE - DEADZONE_DRAW_BOTTOM, 1.0);
p.setPen(QPen(GetRawInputColor(), INPUT_DOT_RADIUS));
p.drawLine(-scale, max_velocity_line_y * -scale, scale, max_velocity_line_y * -scale);
p.drawLine(-scale, jitter_line_y * -scale, scale, jitter_line_y * -scale);
// Sphere background.
p.setPen(Qt::NoPen);
@ -881,7 +881,10 @@ void GyroMappingIndicator::paintEvent(QPaintEvent*)
});
// Sphere outline.
p.setPen(is_stable ? GetRawInputColor() : GetAdjustedInputColor());
const auto outline_color = is_stable ?
(m_gyro_group.IsCalibrating() ? Qt::blue : GetRawInputColor()) :
GetAdjustedInputColor();
p.setPen(outline_color);
p.setBrush(Qt::NoBrush);
p.drawEllipse(QPointF{}, scale * SPHERE_SIZE, scale * SPHERE_SIZE);

1
Source/Core/DolphinQt/Config/Mapping/MappingIndicator.h
View File

@ -101,6 +101,7 @@ public:
private:
ControllerEmu::IMUGyroscope& m_gyro_group;
Common::Matrix33 m_state;
Common::Vec3 m_previous_velocity = {};
u32 m_stable_steps = 0;
};