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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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test/testcontroller.c
+11 -9
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@@ -147,7 +147,7 @@ typedef struct
Uint64 gyro_packet_number;
Uint64 accelerometer_packet_number;
/* When both gyro and accelerometer events have been processed, we can increment this and use it to calculate polling rate over time.*/
Uint64 imu_packet_counter;
Uint64 imu_packet_counter;
Uint64 starting_time_stamp_ns; /* Use this to help estimate how many packets are received over a duration */
Uint16 imu_estimated_sensor_rate; /* in Hz, used to estimate how many packets are received over a duration */
@@ -244,7 +244,7 @@ void SampleGyroPacketForDrift( IMUState *imustate )
if (imustate->gyro_drift_sample_count >= SDL_GAMEPAD_IMU_MIN_GYRO_DRIFT_SAMPLE_COUNT) {
FinalizeDriftSolution(imustate);
}
}
}
}
void ApplyDriftSolution(float *gyro_data, const float *drift_solution)
@@ -1409,24 +1409,26 @@ static void UpdateGamepadOrientation( Uint64 delta_time_ns )
static void HandleGamepadSensorEvent( SDL_Event* event )
{
if (!controller)
return;
if (controller->id != event->gsensor.which)
if (!controller) {
return;
}
if (controller->id != event->gsensor.which) {
return;
}
if (event->gsensor.sensor == SDL_SENSOR_GYRO) {
HandleGamepadGyroEvent(event);
} else if (event->gsensor.sensor == SDL_SENSOR_ACCEL) {
HandleGamepadAccelerometerEvent(event);
}
}
/*
This is where we can update the quaternion because we need to have a drift solution, which requires both
accelerometer and gyro events are received before progressing.
*/
if ( controller->imu_state->accelerometer_packet_number == controller->imu_state->gyro_packet_number ) {
EstimatePacketRate();
Uint64 sensorTimeStampDelta_ns = event->gsensor.sensor_timestamp - controller->imu_state->last_sensor_time_stamp_ns ;
UpdateGamepadOrientation(sensorTimeStampDelta_ns);
@@ -2071,7 +2073,7 @@ SDL_AppResult SDLCALL SDL_AppEvent(void *appstate, SDL_Event *event)
event->gsensor.data[1],
event->gsensor.data[2],
event->gsensor.sensor_timestamp);
#endif /* VERBOSE_SENSORS */
HandleGamepadSensorEvent(event);
break;