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Reverted Accelerometer and Gyro displays to throttled display (10hz)

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Also made accelerometer threshold for drift calibration more lenient for very noisy accelerometers.

The testcontroller tool could eventually be used to come up with a better way to profile an IMU's "stationary" noise so that this threshold can be as tight as necessary for the sake of automatic drift calibration.

(thanks @HilariousCow!)
This commit is contained in:
Sam Lantinga
2025-06-16 11:14:22 -07:00
parent b833c618a9
commit f62c982bcf
3 changed files with 27 additions and 26 deletions
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31
test/gamepadutils.c
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@@ -42,7 +42,7 @@ typedef struct
struct Quaternion
{
float x, y, z, w;
float x, y, z, w;
};
static const Vector3 debug_cube_vertices[] = {
@@ -227,15 +227,15 @@ void DrawAccelerometerDebugArrow(SDL_Renderer *renderer, const Quaternion *gyro_
SDL_FPoint accel_screen = ProjectVec3ToRect(&rotated_accel, bounds);
/* Draw the line from origin to the rotated accelerometer vector */
SDL_SetRenderDrawColor(renderer, GYRO_COLOR_ORANGE);
SDL_SetRenderDrawColor(renderer, GYRO_COLOR_ORANGE);
SDL_RenderLine(renderer, origin_screen.x, origin_screen.y, accel_screen.x, accel_screen.y);
const float head_width = 4.0f;
SDL_FRect arrow_head_rect;
arrow_head_rect.x = accel_screen.x - head_width * 0.5f;
arrow_head_rect.x = accel_screen.x - head_width * 0.5f;
arrow_head_rect.y = accel_screen.y - head_width * 0.5f;
arrow_head_rect.w = head_width;
arrow_head_rect.h = head_width;
arrow_head_rect.w = head_width;
arrow_head_rect.h = head_width;
SDL_RenderRect(renderer, &arrow_head_rect);
/* Restore current color */
@@ -1024,7 +1024,7 @@ void SetGyroDisplayArea(GyroDisplay *ctx, const SDL_FRect *area)
}
SDL_copyp(&ctx->area, area);
/* Place the reset button to the bottom right of the gyro display area.*/
SDL_FRect reset_button_area;
reset_button_area.w = SDL_max(MINIMUM_BUTTON_WIDTH, GetGamepadButtonLabelWidth(ctx->reset_gyro_button) + 2 * BUTTON_PADDING);
@@ -1611,8 +1611,7 @@ void RenderGamepadDisplay(GamepadDisplay *ctx, SDL_Gamepad *gamepad)
has_gyro = SDL_GamepadHasSensor(gamepad, SDL_SENSOR_GYRO);
if (has_accel || has_gyro) {
const float gyro_sensor_rate = has_gyro ? SDL_GetGamepadSensorDataRate(gamepad, SDL_SENSOR_GYRO) : 0;
const int SENSOR_UPDATE_INTERVAL_MS = gyro_sensor_rate > 0.0f ? (int)( 1000.0f / gyro_sensor_rate ) : 100;
const int SENSOR_UPDATE_INTERVAL_MS = 100;
Uint64 now = SDL_GetTicks();
if (now >= ctx->last_sensor_update + SENSOR_UPDATE_INTERVAL_MS) {
@@ -1622,6 +1621,7 @@ void RenderGamepadDisplay(GamepadDisplay *ctx, SDL_Gamepad *gamepad)
if (has_gyro) {
SDL_GetGamepadSensorData(gamepad, SDL_SENSOR_GYRO, ctx->gyro_data, SDL_arraysize(ctx->gyro_data));
}
ctx->last_sensor_update = now;
}
if (has_accel) {
@@ -1637,10 +1637,9 @@ 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 a smoothed version of the above for the sake of turntable tests */
/* 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 )
{
y += ctx->button_height + 2.0f;
@@ -1652,7 +1651,7 @@ void RenderGamepadDisplay(GamepadDisplay *ctx, SDL_Gamepad *gamepad)
}
ctx->last_sensor_update = now;
}
}
SDL_free(mapping);
@@ -1782,7 +1781,7 @@ void RenderGyroDriftCalibrationButton(GyroDisplay *ctx, GamepadDisplay *gamepad_
/* Drift progress bar */
/* Demonstrate how far we are through the drift progress, and how it resets when there's "high noise", i.e if flNoiseFraction == 1.0f */
SDL_FRect progress_bar_rect;
SDL_FRect progress_bar_rect;
progress_bar_rect.x = recalibrate_button_area.x + BUTTON_PADDING;
progress_bar_rect.y = recalibrate_button_area.y + recalibrate_button_area.h * 0.5f + BUTTON_PADDING * 0.5f;
progress_bar_rect.w = recalibrate_button_area.w - BUTTON_PADDING * 2.0f;
@@ -1798,7 +1797,7 @@ void RenderGyroDriftCalibrationButton(GyroDisplay *ctx, GamepadDisplay *gamepad_
/* Set the color based on the drift calibration progress fraction */
SDL_SetRenderDrawColor(ctx->renderer, GYRO_COLOR_GREEN); /* red when too much noise, green when low noise*/
/* Now draw the bars with the filled, then empty rectangles */
SDL_RenderFillRect(ctx->renderer, &progress_bar_fill); /* draw the filled rectangle*/
SDL_SetRenderDrawColor(ctx->renderer, 100, 100, 100, 255); /* gray box*/
@@ -1830,12 +1829,12 @@ float RenderEulerReadout(GyroDisplay *ctx, GamepadDisplay *gamepad_display )
/* Yaw Readout */
log_y += new_line_height;
SDL_snprintf(text, sizeof(text), "Yaw: %6.2f%s", ctx->euler_displacement_angles[1], DEGREE_UTF8);
SDL_snprintf(text, sizeof(text), " Yaw: %6.2f%s", ctx->euler_displacement_angles[1], DEGREE_UTF8);
SDLTest_DrawString(ctx->renderer, log_gyro_euler_text_x + 2.0f, log_y, text);
/* Roll Readout */
log_y += new_line_height;
SDL_snprintf(text, sizeof(text), "Roll: %6.2f%s", ctx->euler_displacement_angles[2], DEGREE_UTF8);
SDL_snprintf(text, sizeof(text), " Roll: %6.2f%s", ctx->euler_displacement_angles[2], DEGREE_UTF8);
SDLTest_DrawString(ctx->renderer, log_gyro_euler_text_x + 2.0f, log_y, text);
return log_y + new_line_height; /* Return the next y position for further rendering */
@@ -1907,7 +1906,7 @@ void RenderGyroDisplay(GyroDisplay *ctx, GamepadDisplay *gamepadElements, SDL_Ga
if (bHasCachedDriftSolution) {
float bottom = RenderEulerReadout(ctx, gamepadElements);
RenderGyroGizmo(ctx, gamepad, bottom);
}
SDL_SetRenderDrawColor(ctx->renderer, r, g, b, a);
}