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Merge pull request #7481 from german77/gyro-bias

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service/hid: Improve console motion accuracy
This commit is contained in:
bunnei 2021-12-21 00:13:54 -08:00 committed by GitHub
commit 5e24f7ed31
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6 changed files with 32 additions and 20 deletions
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3
src/core/hid/emulated_console.cpp
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@ -161,7 +161,10 @@ void EmulatedConsole::SetMotion(const Common::Input::CallbackStatus& callback) {
motion.rotation = emulated.GetGyroscope();
motion.orientation = emulated.GetOrientation();
motion.quaternion = emulated.GetQuaternion();
motion.gyro_bias = emulated.GetGyroBias();
motion.is_at_rest = !emulated.IsMoving(motion_sensitivity);
// Find what is this value
motion.verticalization_error = 0.0f;
TriggerOnChange(ConsoleTriggerType::Motion);
}

2
src/core/hid/emulated_console.h
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@ -50,6 +50,8 @@ struct ConsoleMotion {
Common::Vec3f rotation{};
std::array<Common::Vec3f, 3> orientation{};
Common::Quaternion<f32> quaternion{};
Common::Vec3f gyro_bias{};
f32 verticalization_error{};
bool is_at_rest{};
};

12
src/core/hid/motion_input.cpp
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@ -23,11 +23,11 @@ void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) {
}
void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
gyro = gyroscope - gyro_drift;
gyro = gyroscope - gyro_bias;
// Auto adjust drift to minimize drift
if (!IsMoving(0.1f)) {
gyro_drift = (gyro_drift * 0.9999f) + (gyroscope * 0.0001f);
gyro_bias = (gyro_bias * 0.9999f) + (gyroscope * 0.0001f);
}
if (gyro.Length2() < gyro_threshold) {
@ -41,8 +41,8 @@ void MotionInput::SetQuaternion(const Common::Quaternion<f32>& quaternion) {
quat = quaternion;
}
void MotionInput::SetGyroDrift(const Common::Vec3f& drift) {
gyro_drift = drift;
void MotionInput::SetGyroBias(const Common::Vec3f& bias) {
gyro_bias = bias;
}
void MotionInput::SetGyroThreshold(f32 threshold) {
@ -192,6 +192,10 @@ Common::Vec3f MotionInput::GetGyroscope() const {
return gyro;
}
Common::Vec3f MotionInput::GetGyroBias() const {
return gyro_bias;
}
Common::Quaternion<f32> MotionInput::GetQuaternion() const {
return quat;
}

5
src/core/hid/motion_input.h
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@ -24,7 +24,7 @@ public:
void SetAcceleration(const Common::Vec3f& acceleration);
void SetGyroscope(const Common::Vec3f& gyroscope);
void SetQuaternion(const Common::Quaternion<f32>& quaternion);
void SetGyroDrift(const Common::Vec3f& drift);
void SetGyroBias(const Common::Vec3f& bias);
void SetGyroThreshold(f32 threshold);
void EnableReset(bool reset);
@ -36,6 +36,7 @@ public:
[[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;
@ -69,7 +70,7 @@ private:
Common::Vec3f gyro;
// Vector to be substracted from gyro measurements
Common::Vec3f gyro_drift;
Common::Vec3f gyro_bias;
// Minimum gyro amplitude to detect if the device is moving
f32 gyro_threshold = 0.0f;

20
src/core/hle/service/hid/controllers/console_sixaxis.cpp
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@ -33,15 +33,14 @@ void Controller_ConsoleSixAxis::OnUpdate(const Core::Timing::CoreTiming& core_ti
const auto& last_entry = seven_sixaxis_lifo.ReadCurrentEntry().state;
next_seven_sixaxis_state.sampling_number = last_entry.sampling_number + 1;
// Try to read sixaxis sensor states
const auto motion_status = console->GetMotion();
last_global_timestamp = core_timing.GetGlobalTimeNs().count();
console_six_axis.is_seven_six_axis_sensor_at_rest = motion_status.is_at_rest;
// This value increments every time the switch goes to sleep
next_seven_sixaxis_state.unknown = 1;
next_seven_sixaxis_state.timestamp = last_global_timestamp - last_saved_timestamp;
next_seven_sixaxis_state.accel = motion_status.accel;
// Zero gyro values as they just mess up with the camera
// Note: Probably a correct sensivity setting must be set
next_seven_sixaxis_state.gyro = {};
next_seven_sixaxis_state.gyro = motion_status.gyro;
next_seven_sixaxis_state.quaternion = {
{
motion_status.quaternion.xyz.y,
@ -52,9 +51,9 @@ void Controller_ConsoleSixAxis::OnUpdate(const Core::Timing::CoreTiming& core_ti
};
console_six_axis.sampling_number++;
// TODO(German77): Find the purpose of those values
console_six_axis.verticalization_error = 0.0f;
console_six_axis.gyro_bias = {0.0f, 0.0f, 0.0f};
console_six_axis.is_seven_six_axis_sensor_at_rest = motion_status.is_at_rest;
console_six_axis.verticalization_error = motion_status.verticalization_error;
console_six_axis.gyro_bias = motion_status.gyro_bias;
// Update console six axis shared memory
std::memcpy(data + SHARED_MEMORY_OFFSET, &console_six_axis, sizeof(console_six_axis));
@ -69,7 +68,6 @@ void Controller_ConsoleSixAxis::SetTransferMemoryPointer(u8* t_mem) {
}
void Controller_ConsoleSixAxis::ResetTimestamp() {
seven_sixaxis_lifo.buffer_count = 0;
seven_sixaxis_lifo.buffer_tail = 0;
last_saved_timestamp = last_global_timestamp;
}
} // namespace Service::HID

10
src/core/hle/service/hid/controllers/console_sixaxis.h
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@ -39,8 +39,9 @@ public:
private:
struct SevenSixAxisState {
INSERT_PADDING_WORDS(4); // unused
s64 sampling_number{};
INSERT_PADDING_WORDS(2); // unused
u64 timestamp{};
u64 sampling_number{};
u64 unknown{};
Common::Vec3f accel{};
Common::Vec3f gyro{};
@ -52,9 +53,10 @@ private:
struct ConsoleSharedMemory {
u64 sampling_number{};
bool is_seven_six_axis_sensor_at_rest{};
INSERT_PADDING_BYTES(4); // padding
INSERT_PADDING_BYTES(3); // padding
f32 verticalization_error{};
Common::Vec3f gyro_bias{};
INSERT_PADDING_BYTES(4); // padding
};
static_assert(sizeof(ConsoleSharedMemory) == 0x20, "ConsoleSharedMemory is an invalid size");
@ -64,6 +66,8 @@ private:
Core::HID::EmulatedConsole* console;
u8* transfer_memory = nullptr;
bool is_transfer_memory_set = false;
u64 last_saved_timestamp{};
u64 last_global_timestamp{};
ConsoleSharedMemory console_six_axis{};
SevenSixAxisState next_seven_sixaxis_state{};
};