diff options
Diffstat (limited to 'src/core/hid/motion_input.h')
-rw-r--r-- | src/core/hid/motion_input.h | 13 |
1 files changed, 13 insertions, 0 deletions
diff --git a/src/core/hid/motion_input.h b/src/core/hid/motion_input.h index 9f3fc1cf7..11678983d 100644 --- a/src/core/hid/motion_input.h +++ b/src/core/hid/motion_input.h @@ -23,6 +23,8 @@ public: static constexpr float GyroMaxValue = 5.0f; static constexpr float AccelMaxValue = 7.0f; + static constexpr std::size_t CalibrationSamples = 300; + explicit MotionInput(); MotionInput(const MotionInput&) = default; @@ -35,6 +37,7 @@ public: void SetAcceleration(const Common::Vec3f& acceleration); void SetGyroscope(const Common::Vec3f& gyroscope); void SetQuaternion(const Common::Quaternion<f32>& quaternion); + void SetEulerAngles(const Common::Vec3f& euler_angles); void SetGyroBias(const Common::Vec3f& bias); void SetGyroThreshold(f32 threshold); @@ -48,17 +51,21 @@ public: void UpdateRotation(u64 elapsed_time); void UpdateOrientation(u64 elapsed_time); + void Calibrate(); + [[nodiscard]] std::array<Common::Vec3f, 3> GetOrientation() const; [[nodiscard]] Common::Vec3f GetAcceleration() const; [[nodiscard]] Common::Vec3f GetGyroscope() const; [[nodiscard]] Common::Vec3f GetGyroBias() const; [[nodiscard]] Common::Vec3f GetRotations() const; [[nodiscard]] Common::Quaternion<f32> GetQuaternion() const; + [[nodiscard]] Common::Vec3f GetEulerAngles() const; [[nodiscard]] bool IsMoving(f32 sensitivity) const; [[nodiscard]] bool IsCalibrated(f32 sensitivity) const; private: + void StopCalibration(); void ResetOrientation(); void SetOrientationFromAccelerometer(); @@ -101,6 +108,12 @@ private: // Use accelerometer values to calculate position bool only_accelerometer = true; + + // When enabled it will aggressively adjust for gyro drift + bool calibration_mode = false; + + // Used to auto disable calibration mode + std::size_t calibration_counter = 0; }; } // namespace Core::HID |