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This commit is contained in:
german 2020-08-23 20:41:59 -05:00
parent 2d207ec609
commit e6fc3b5662
2 changed files with 65 additions and 85 deletions
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110
src/input_common/motion_input.cpp
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@ -2,43 +2,26 @@
namespace InputCommon { namespace InputCommon {
MotionInput::MotionInput(f32 new_kp, f32 new_ki, f32 new_kd) : kp(new_kp), ki(new_ki), kd(new_kd) { MotionInput::MotionInput(f32 new_kp, f32 new_ki, f32 new_kd)
accel = {}; : kp(new_kp), ki(new_ki), kd(new_kd), quat{{0, 0, -1}, 0} {}
gyro = {};
gyro_drift = {};
gyro_threshold = 0;
rotations = {};
quat.w = 0; void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) {
quat.xyz[0] = 0;
quat.xyz[1] = 0;
quat.xyz[2] = -1;
real_error = {};
integral_error = {};
derivative_error = {};
reset_counter = 0;
reset_enabled = true;
}
void MotionInput::SetAcceleration(Common::Vec3f acceleration) {
accel = acceleration; accel = acceleration;
} }
void MotionInput::SetGyroscope(Common::Vec3f gyroscope) { void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
gyro = gyroscope - gyro_drift; gyro = gyroscope - gyro_drift;
if (gyro.Length2() < gyro_threshold) { if (gyro.Length2() < gyro_threshold) {
gyro = {}; gyro = {};
} }
} }
void MotionInput::SetQuaternion(Common::Quaternion<f32> quaternion) { void MotionInput::SetQuaternion(const Common::Quaternion<f32>& quaternion) {
quat = quaternion; quat = quaternion;
} }
void MotionInput::SetGyroDrift(Common::Vec3f drift) { void MotionInput::SetGyroDrift(const Common::Vec3f& drift) {
drift = gyro_drift; gyro_drift = drift;
} }
void MotionInput::SetGyroThreshold(f32 threshold) { void MotionInput::SetGyroThreshold(f32 threshold) {
@ -53,11 +36,11 @@ void MotionInput::ResetRotations() {
rotations = {}; rotations = {};
} }
bool MotionInput::IsMoving(f32 sensitivity) { bool MotionInput::IsMoving(f32 sensitivity) const {
return gyro.Length2() >= sensitivity || accel.Length() <= 0.9f || accel.Length() >= 1.1f; return gyro.Length2() >= sensitivity || accel.Length() <= 0.9f || accel.Length() >= 1.1f;
} }
bool MotionInput::IsCalibrated(f32 sensitivity) { bool MotionInput::IsCalibrated(f32 sensitivity) const {
return real_error.Length() > sensitivity; return real_error.Length() > sensitivity;
} }
@ -67,30 +50,30 @@ void MotionInput::UpdateRotation(u64 elapsed_time) {
void MotionInput::UpdateOrientation(u64 elapsed_time) { void MotionInput::UpdateOrientation(u64 elapsed_time) {
// Short name local variable for readability // Short name local variable for readability
f32 q1 = quat.w, q2 = quat.xyz[0], q3 = quat.xyz[1], q4 = quat.xyz[2]; f32 q1 = quat.w;
f32 sample_period = elapsed_time / 1000000.0f; f32 q2 = quat.xyz[0];
f32 q3 = quat.xyz[1];
f32 q4 = quat.xyz[2];
const f32 sample_period = elapsed_time / 1000000.0f;
auto normal_accel = accel.Normalized(); const auto normal_accel = accel.Normalized();
auto rad_gyro = gyro * 3.1415926535f; auto rad_gyro = gyro * 3.1415926535f;
rad_gyro.z = -rad_gyro.z; rad_gyro.z = -rad_gyro.z;
// Ignore drift correction if acceleration is not present // Ignore drift correction if acceleration is not present
if (normal_accel.Length() == 1.0f) { if (normal_accel.Length() == 1.0f) {
f32 ax = -normal_accel.x; const f32 ax = -normal_accel.x;
f32 ay = normal_accel.y; const f32 ay = normal_accel.y;
f32 az = -normal_accel.z; const f32 az = -normal_accel.z;
f32 vx, vy, vz;
Common::Vec3f new_real_error;
// Estimated direction of gravity // Estimated direction of gravity
vx = 2.0f * (q2 * q4 - q1 * q3); const f32 vx = 2.0f * (q2 * q4 - q1 * q3);
vy = 2.0f * (q1 * q2 + q3 * q4); const f32 vy = 2.0f * (q1 * q2 + q3 * q4);
vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4; const f32 vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
// Error is cross product between estimated direction and measured direction of gravity // Error is cross product between estimated direction and measured direction of gravity
new_real_error.x = ay * vz - az * vy; const Common::Vec3f new_real_error = {ay * vz - az * vy, az * vx - ax * vz,
new_real_error.y = az * vx - ax * vz; ax * vy - ay * vx};
new_real_error.x = ax * vy - ay * vx;
derivative_error = new_real_error - real_error; derivative_error = new_real_error - real_error;
real_error = new_real_error; real_error = new_real_error;
@ -108,15 +91,14 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
rad_gyro += kd * derivative_error; rad_gyro += kd * derivative_error;
} }
f32 gx = rad_gyro.y; const f32 gx = rad_gyro.y;
f32 gy = rad_gyro.x; const f32 gy = rad_gyro.x;
f32 gz = rad_gyro.z; const f32 gz = rad_gyro.z;
// Integrate rate of change of quaternion // Integrate rate of change of quaternion
f32 pa, pb, pc; const f32 pa = q2;
pa = q2; const f32 pb = q3;
pb = q3; const f32 pc = q4;
pc = q4;
q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * sample_period); q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * sample_period);
q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * sample_period); q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * sample_period);
q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * sample_period); q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * sample_period);
@ -129,41 +111,33 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
quat = quat.Normalized(); quat = quat.Normalized();
} }
std::array<Common::Vec3f, 3> MotionInput::GetOrientation() { std::array<Common::Vec3f, 3> MotionInput::GetOrientation() const {
std::array<Common::Vec3f, 3> orientation = {}; const Common::Quaternion<float> quad{.xyz = {-quat.xyz[1], -quat.xyz[0], -quat.w},
Common::Quaternion<float> quad; .w = -quat.xyz[2]};
const std::array<float, 16> matrix4x4 = quad.ToMatrix();
quad.w = -quat.xyz[2]; return {Common::Vec3f(matrix4x4[0], matrix4x4[1], matrix4x4[2]),
quad.xyz[0] = -quat.xyz[1]; Common::Vec3f(matrix4x4[4], matrix4x4[5], matrix4x4[6]),
quad.xyz[1] = -quat.xyz[0]; Common::Vec3f(matrix4x4[8], matrix4x4[9], matrix4x4[10])};
quad.xyz[2] = -quat.w;
std::array<float, 16> matrix4x4 = quad.ToMatrix();
orientation[0] = Common::Vec3f(matrix4x4[0], matrix4x4[1], matrix4x4[2]);
orientation[1] = Common::Vec3f(matrix4x4[4], matrix4x4[5], matrix4x4[6]);
orientation[2] = Common::Vec3f(matrix4x4[8], matrix4x4[9], matrix4x4[10]);
return orientation;
} }
Common::Vec3f MotionInput::GetAcceleration() { Common::Vec3f MotionInput::GetAcceleration() const {
return accel; return accel;
} }
Common::Vec3f MotionInput::GetGyroscope() { Common::Vec3f MotionInput::GetGyroscope() const {
return gyro; return gyro;
} }
Common::Quaternion<f32> MotionInput::GetQuaternion() { Common::Quaternion<f32> MotionInput::GetQuaternion() const {
return quat; return quat;
} }
Common::Vec3f MotionInput::GetRotations() { Common::Vec3f MotionInput::GetRotations() const {
return rotations; return rotations;
} }
void MotionInput::resetOrientation() { void MotionInput::ResetOrientation() {
if (!reset_enabled) { if (!reset_enabled) {
return; return;
} }
@ -182,4 +156,4 @@ void MotionInput::resetOrientation() {
reset_counter = 0; reset_counter = 0;
} }
} }
} // namespace InputCommon } // namespace InputCommon

40
src/input_common/motion_input.h
View File

@ -14,10 +14,16 @@ class MotionInput {
public: public:
MotionInput(f32 new_kp, f32 new_ki, f32 new_kd); MotionInput(f32 new_kp, f32 new_ki, f32 new_kd);
void SetAcceleration(Common::Vec3f acceleration); MotionInput(const MotionInput&) = default;
void SetGyroscope(Common::Vec3f acceleration); MotionInput& operator=(const MotionInput&) = default;
void SetQuaternion(Common::Quaternion<f32> quaternion);
void SetGyroDrift(Common::Vec3f drift); MotionInput(MotionInput&&) = default;
MotionInput& operator=(MotionInput&&) = default;
void SetAcceleration(const Common::Vec3f& acceleration);
void SetGyroscope(const Common::Vec3f& acceleration);
void SetQuaternion(const Common::Quaternion<f32>& quaternion);
void SetGyroDrift(const Common::Vec3f& drift);
void SetGyroThreshold(f32 threshold); void SetGyroThreshold(f32 threshold);
void EnableReset(bool reset); void EnableReset(bool reset);
@ -26,23 +32,23 @@ public:
void UpdateRotation(u64 elapsed_time); void UpdateRotation(u64 elapsed_time);
void UpdateOrientation(u64 elapsed_time); void UpdateOrientation(u64 elapsed_time);
std::array<Common::Vec3f, 3> GetOrientation(); std::array<Common::Vec3f, 3> GetOrientation() const;
Common::Vec3f GetAcceleration(); Common::Vec3f GetAcceleration() const;
Common::Vec3f GetGyroscope(); Common::Vec3f GetGyroscope() const;
Common::Vec3f GetRotations(); Common::Vec3f GetRotations() const;
Common::Quaternion<f32> GetQuaternion(); Common::Quaternion<f32> GetQuaternion() const;
bool IsMoving(f32 sensitivity); bool IsMoving(f32 sensitivity) const;
bool IsCalibrated(f32 sensitivity); bool IsCalibrated(f32 sensitivity) const;
private:
void ResetOrientation();
// PID constants // PID constants
const f32 kp; const f32 kp;
const f32 ki; const f32 ki;
const f32 kd; const f32 kd;
private:
void resetOrientation();
// PID errors // PID errors
Common::Vec3f real_error; Common::Vec3f real_error;
Common::Vec3f integral_error; Common::Vec3f integral_error;
@ -54,9 +60,9 @@ private:
Common::Vec3f gyro; Common::Vec3f gyro;
Common::Vec3f gyro_drift; Common::Vec3f gyro_drift;
f32 gyro_threshold; f32 gyro_threshold = 0.0f;
f32 reset_counter; f32 reset_counter = 0.0f;
bool reset_enabled; bool reset_enabled = true;
}; };
} // namespace InputCommon } // namespace InputCommon