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A little more tidying. Better notes around how the absolute maximum threshold was arrived at.

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This commit is contained in:
Aubrey Hesselgren
2025-07-22 11:01:57 -07:00
committed by Sam Lantinga
parent 8863e5ee67
commit 34616d1b00
3 changed files with 24 additions and 26 deletions
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25
test/gamepadutils.c
View File

@@ -236,7 +236,7 @@ void DrawGyroDebugAxes(SDL_Renderer *renderer, const Quaternion *orientation, co
SDL_RenderLine(renderer, origin_screen.x, origin_screen.y, up_screen.x, up_screen.y);
SDL_SetRenderDrawColor(renderer, GYRO_COLOR_BLUE);
SDL_RenderLine(renderer, origin_screen.x, origin_screen.y, back_screen.x, back_screen.y);
/* Restore current color */
SDL_SetRenderDrawColor(renderer, r, g, b, a);
}
@@ -1053,7 +1053,7 @@ GyroDisplay *CreateGyroDisplay(SDL_Renderer *renderer)
ctx->next_reported_sensor_time = 0;
ctx->current_calibration_phase = GYRO_CALIBRATION_PHASE_OFF;
ctx->calibration_phase_progress_fraction = 0.0f; /* [0..1] */
ctx->accelerometer_noise_sq = 0.0f;
ctx->accelerometer_noise_sq = 0.0f;
ctx->accelerometer_noise_tolerance_sq = ACCELEROMETER_NOISE_THRESHOLD; /* Will be overwritten but this avoids divide by zero. */
ctx->reset_gyro_button = CreateGamepadButton(renderer, "Reset View");
ctx->calibrate_gyro_button = CreateGamepadButton(renderer, "Recalibrate Drift");
@@ -1678,7 +1678,6 @@ void RenderGamepadDisplay(GamepadDisplay *ctx, SDL_Gamepad *gamepad)
SDLTest_DrawString(ctx->renderer, x + center - SDL_strlen(text) * FONT_CHARACTER_SIZE, y, text);
SDL_snprintf(text, sizeof(text), "[%.2f,%.2f,%.2f]%s/s", ctx->gyro_data[0] * RAD_TO_DEG, ctx->gyro_data[1] * RAD_TO_DEG, ctx->gyro_data[2] * RAD_TO_DEG, DEGREE_UTF8);
SDLTest_DrawString(ctx->renderer, x + center + 2.0f, y, text);
/* Display the testcontroller tool's evaluation of drift. This is also useful to get an average rate of turn in calibrated turntable tests. */
if (ctx->gyro_drift_correction_data[0] != 0.0f && ctx->gyro_drift_correction_data[2] != 0.0f && ctx->gyro_drift_correction_data[2] != 0.0f )
@@ -1758,7 +1757,6 @@ void RenderGyroDriftCalibrationButton(GyroDisplay *ctx, GamepadDisplay *gamepad_
const float new_line_height = gamepad_display->button_height + 2.0f;
GamepadButton *start_calibration_button = GetGyroCalibrateButton(ctx);
/* Show the recalibration progress bar. */
float recalibrate_button_width = GetGamepadButtonLabelWidth(start_calibration_button) + 2 * BUTTON_PADDING;
SDL_FRect recalibrate_button_area;
@@ -1784,14 +1782,12 @@ void RenderGyroDriftCalibrationButton(GyroDisplay *ctx, GamepadDisplay *gamepad_
SetGamepadButtonLabel(start_calibration_button, label_text);
SetGamepadButtonArea(start_calibration_button, &recalibrate_button_area);
RenderGamepadButton(start_calibration_button);
RenderGamepadButton(start_calibration_button);
bool bExtremeNoise = ctx->accelerometer_noise_sq > ACCELEROMETER_MAX_NOISE_G_SQ;
/* Explicit warning message if we detect too much movement */
if (ctx->current_calibration_phase == GYRO_CALIBRATION_PHASE_OFF) {
if (bExtremeNoise)
{
if (bExtremeNoise) {
SDL_strlcpy(label_text, "GamePad Must Be Still", sizeof(label_text));
SDLTest_DrawString(ctx->renderer, recalibrate_button_area.x, recalibrate_button_area.y + recalibrate_button_area.h + new_line_height, label_text);
SDL_strlcpy(label_text, "Place GamePad On Table", sizeof(label_text));
@@ -1799,12 +1795,14 @@ void RenderGyroDriftCalibrationButton(GyroDisplay *ctx, GamepadDisplay *gamepad_
}
}
if (ctx->current_calibration_phase == GYRO_CALIBRATION_PHASE_NOISE_PROFILING
|| ctx->current_calibration_phase == GYRO_CALIBRATION_PHASE_DRIFT_PROFILING)
if (ctx->current_calibration_phase == GYRO_CALIBRATION_PHASE_NOISE_PROFILING ||
ctx->current_calibration_phase == GYRO_CALIBRATION_PHASE_DRIFT_PROFILING)
{
float flAbsoluteNoiseFraction = SDL_clamp(ctx->accelerometer_noise_sq / ACCELEROMETER_MAX_NOISE_G_SQ, 0.0f, 1.0f);
float flAbsoluteToleranceFraction = SDL_clamp(ctx->accelerometer_noise_tolerance_sq / ACCELEROMETER_MAX_NOISE_G_SQ, 0.0f, 1.0f);
float flRelativeNoiseFraction = SDL_clamp(ctx->accelerometer_noise_sq / ctx->accelerometer_noise_tolerance_sq, 0.0f, 1.0f);
float flMaxNoiseForThisPhase = ctx->current_calibration_phase == GYRO_CALIBRATION_PHASE_NOISE_PROFILING ? ACCELEROMETER_MAX_NOISE_G_SQ : ctx->accelerometer_noise_tolerance_sq;
float flRelativeNoiseFraction = SDL_clamp(ctx->accelerometer_noise_sq / flMaxNoiseForThisPhase, 0.0f, 1.0f);
float noise_bar_height = gamepad_display->button_height;
SDL_FRect noise_bar_rect;
@@ -1813,7 +1811,7 @@ void RenderGyroDriftCalibrationButton(GyroDisplay *ctx, GamepadDisplay *gamepad_
noise_bar_rect.w = recalibrate_button_area.w;
noise_bar_rect.h = noise_bar_height;
SDL_snprintf(label_text, sizeof(label_text), "Noise Tolerance: %3.3fG ", SDL_sqrtf(ctx->accelerometer_noise_tolerance_sq) );
SDL_snprintf(label_text, sizeof(label_text), "Accelerometer Noise Tolerance: %3.3fG ", SDL_sqrtf(ctx->accelerometer_noise_tolerance_sq) );
SDLTest_DrawString(ctx->renderer, recalibrate_button_area.x, recalibrate_button_area.y + recalibrate_button_area.h + new_line_height * 2, label_text);
/* Adjust the noise bar rectangle based on the accelerometer noise value */
@@ -1837,7 +1835,7 @@ void RenderGyroDriftCalibrationButton(GyroDisplay *ctx, GamepadDisplay *gamepad_
tolerance_bar_rect.w = tolerance_bar_fill_width;
tolerance_bar_rect.h = noise_bar_height;
SDL_SetRenderDrawColor(ctx->renderer, 128, 128, 0, 255);
SDL_SetRenderDrawColor(ctx->renderer, 128, 128, 0, 255);
SDL_RenderRect(ctx->renderer, &tolerance_bar_rect); /* draw the tolerance rectangle */
SDL_SetRenderDrawColor(ctx->renderer, 100, 100, 100, 255); /* gray box */
@@ -1985,7 +1983,6 @@ void RenderGyroDisplay(GyroDisplay *ctx, GamepadDisplay *gamepadElements, SDL_Ga
float bottom = RenderEulerReadout(ctx, gamepadElements);
RenderGyroGizmo(ctx, gamepad, bottom);
}
SDL_SetRenderDrawColor(ctx->renderer, r, g, b, a);
}

7
test/gamepadutils.h
View File

@@ -143,9 +143,12 @@ extern void DestroyGamepadButton(GamepadButton *ctx);
/* Gyro element Display */
/* 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.*/
/* This is used as the initial noise tolerance 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
#define ACCELEROMETER_MAX_NOISE_G_SQ ( 0.125f * 0.125f )
/* The value below is based on observation of a Dualshock controller. Of all gamepads observed, the Dualshock (PS4) tends to have one of the noisiest accelerometers. Increase this threshold if a controller is failing to pass the noise profiling stage while stationary on a table. */
#define ACCELEROMETER_MAX_NOISE_G 0.075f
#define ACCELEROMETER_MAX_NOISE_G_SQ (ACCELEROMETER_MAX_NOISE_G * ACCELEROMETER_MAX_NOISE_G)
/* Gyro Calibration Phases */
typedef enum
{

18
test/testcontroller.c
View File

@@ -211,7 +211,7 @@ void ResetGyroOrientation(IMUState *imustate)
}
/* More time = more accurate drift correction*/
#define SDL_GAMEPAD_IMU_NOISE_SETTLING_PERIOD_NS (1 * SDL_NS_PER_SECOND)
#define SDL_GAMEPAD_IMU_NOISE_SETTLING_PERIOD_NS ( SDL_NS_PER_SECOND / 2)
#define SDL_GAMEPAD_IMU_NOISE_EVALUATION_PERIOD_NS (4 * SDL_NS_PER_SECOND)
#define SDL_GAMEPAD_IMU_NOISE_PROFILING_PHASE_DURATION_NS (SDL_GAMEPAD_IMU_NOISE_SETTLING_PERIOD_NS + SDL_GAMEPAD_IMU_NOISE_EVALUATION_PERIOD_NS)
#define SDL_GAMEPAD_IMU_CALIBRATION_PHASE_DURATION_NS (5 * SDL_NS_PER_SECOND)
@@ -222,12 +222,11 @@ void ResetGyroOrientation(IMUState *imustate)
void CalibrationPhase_NoiseProfiling(IMUState *imustate)
{
/* If we have really large movement (i.e. greater than a fraction of G), then we want to start noise evaluation over. The frontend will warn the user to put down the controller. */
const float flAbsoluteMaxAccelerationG = 0.125f;
if (imustate->accelerometer_length_squared > (flAbsoluteMaxAccelerationG * flAbsoluteMaxAccelerationG) ) {
if (imustate->accelerometer_length_squared > ACCELEROMETER_MAX_NOISE_G_SQ) {
BeginNoiseCalibrationPhase(imustate);
return;
}
Uint64 now = SDL_GetTicksNS();
Uint64 delta_ns = now - imustate->calibration_phase_start_time_ticks_ns;
@@ -1433,7 +1432,7 @@ static void HandleGamepadGyroEvent(SDL_Event *event)
/* Two strategies for evaluating polling rate - one based on a fixed packet count, and one using a fixed time window.
* Smaller values in either will give you a more responsive polling rate estimate, but this may fluctuate more.
* Larger values in either will give you a more stable average but they will require more time to evaluate.
* Generally, wired connections tend to give much more stable
* Generally, wired connections tend to give much more stable
*/
/* #define SDL_USE_FIXED_PACKET_COUNT_FOR_ESTIMATION */
#define SDL_GAMEPAD_IMU_MIN_POLLING_RATE_ESTIMATION_COUNT 2048
@@ -1479,7 +1478,7 @@ static void UpdateGamepadOrientation( Uint64 delta_time_ns )
static void HandleGamepadSensorEvent( SDL_Event* event )
{
if (!controller)
return;
return;
if (controller->id != event->gsensor.which)
return;
@@ -1504,7 +1503,7 @@ static void HandleGamepadSensorEvent( SDL_Event* event )
/* Show how far we are through the current phase. When off, just default to zero progress */
Uint64 now = SDL_GetTicksNS();
float duration = 0.0f;
Uint64 duration = 0;
if (controller->imu_state->calibration_phase == GYRO_CALIBRATION_PHASE_NOISE_PROFILING) {
duration = SDL_GAMEPAD_IMU_NOISE_PROFILING_PHASE_DURATION_NS;
} else if (controller->imu_state->calibration_phase == GYRO_CALIBRATION_PHASE_DRIFT_PROFILING) {
@@ -1512,7 +1511,7 @@ static void HandleGamepadSensorEvent( SDL_Event* event )
}
Uint64 delta_ns = now - controller->imu_state->calibration_phase_start_time_ticks_ns;
float drift_calibration_progress_frac = duration > 0.0f ? ((float)delta_ns / (float)duration) : 0.0f;
float drift_calibration_progress_fraction = duration > 0.0f ? ((float)delta_ns / (float)duration) : 0.0f;
int reported_polling_rate_hz = sensorTimeStampDelta_ns > 0 ? (int)(SDL_NS_PER_SECOND / sensorTimeStampDelta_ns) : 0;
@@ -1524,10 +1523,9 @@ static void HandleGamepadSensorEvent( SDL_Event* event )
reported_polling_rate_hz,
controller->imu_state->imu_estimated_sensor_rate,
controller->imu_state->calibration_phase,
drift_calibration_progress_frac,
drift_calibration_progress_fraction,
controller->imu_state->accelerometer_length_squared,
controller->imu_state->accelerometer_tolerance_squared
);
/* Also show the gyro correction next to the gyro speed - this is useful in turntable tests as you can use a turntable to calibrate for drift, and that drift correction is functionally the same as the turn table speed (ignoring drift) */