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Code Issues 161 Packages Projects Releases Wiki Activity

Calibration tutorial fix settling (#1521)

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Co-authored-by: Eiren Rain <Eirenliel@users.noreply.github.com>
This commit is contained in:
sctanf
2025-10-31 18:42:42 -05:00
committed by GitHub
parent 0e073a01fd
commit 119d9158c0
1 changed files with 40 additions and 20 deletions
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60
gui/src/components/onboarding/pages/CalibrationTutorial.tsx
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@@ -9,7 +9,7 @@ import { useCountdown } from '@/hooks/countdown';
import classNames from 'classnames';
import { TaybolIcon } from '@/components/commons/icon/TaybolIcon';
import { useRestCalibrationTrackers } from '@/hooks/imu-logic';
import { averageVector, Vector3FromVec3fT } from '@/maths/vector3';
import { Vector3FromVec3fT } from '@/maths/vector3';
import { Vector3 } from 'three';
import { useTimeout } from '@/hooks/timeout';
import { useAtomValue } from 'jotai';
@@ -23,7 +23,9 @@ export enum CalibrationStatus {
}
export const IMU_CALIBRATION_TIME = 4;
const ACCEL_TOLERANCE = 0.2; // m/s^2
export const IMU_SETTLE_TIME = 1;
const ACCEL_TOLERANCE = 0.5; // m/s^2
const ACCEL_HYSTERESIS = 0.1; // m/s^2
export function CalibrationTutorialPage() {
const { l10n } = useLocalization();
@@ -32,43 +34,61 @@ export function CalibrationTutorialPage() {
CalibrationStatus.WAITING
);
const [skipButton, setSkipButton] = useState(false);
const [settled, setSettled] = useState(false);
const { timer, isCounting, startCountdown, abortCountdown } = useCountdown({
duration: IMU_CALIBRATION_TIME,
onCountdownEnd: () => setCalibrationStatus(CalibrationStatus.SUCCESS),
duration: settled ? IMU_CALIBRATION_TIME : IMU_SETTLE_TIME,
onCountdownEnd: () =>
settled
? setCalibrationStatus(CalibrationStatus.SUCCESS)
: setSettled(true),
});
useTimeout(() => setSkipButton(true), 10000);
const connectedIMUTrackers = useAtomValue(connectedIMUTrackersAtom);
const restCalibrationTrackers =
useRestCalibrationTrackers(connectedIMUTrackers);
const [rested, setRested] = useState(false);
const lastValueMap = useRef(new Map<number, Vector3[]>());
const lastValueMap = useRef(new Map<number, Vector3>());
useEffect(() => {
const accelLength = restCalibrationTrackers.every((x) => {
if (
x.device?.id?.id === undefined ||
x.tracker.trackerId?.trackerNum === undefined ||
x.tracker.trackerId.deviceId?.id === undefined ||
!x.tracker.linearAcceleration
)
return false;
const trackerId =
x.tracker.trackerId.trackerNum + (x.tracker.trackerId.trackerNum << 8);
const lastValues = lastValueMap.current.get(trackerId) ?? [];
lastValueMap.current.set(trackerId, lastValues);
const trackerId = x.tracker.trackerId.trackerNum + (x.device.id.id << 8);
const lastValue = lastValueMap.current.get(trackerId) ?? new Vector3();
lastValueMap.current.set(trackerId, lastValue);
const vec3 = Vector3FromVec3fT(x.tracker.linearAcceleration);
if (lastValues.length > 5) {
lastValues.shift();
const avg = averageVector(lastValues).lengthSq();
lastValues.push(vec3);
return vec3.lengthSq() <= avg + ACCEL_TOLERANCE ** 2;
if (vec3.lengthSq() > ACCEL_TOLERANCE ** 2) {
return false;
}
lastValues.push(vec3);
return false;
const delta = new Vector3();
delta.subVectors(lastValue, vec3);
if (delta.lengthSq() > ACCEL_HYSTERESIS ** 2) {
lastValue.copy(vec3);
return false;
}
return true;
});
setRested(accelLength || restCalibrationTrackers.length === 0);
}, [restCalibrationTrackers]);
if (accelLength && !settled && !isCounting) {
abortCountdown();
startCountdown();
} else if (!accelLength && !settled && isCounting) {
abortCountdown();
} else if (!accelLength && settled) {
setSettled(false);
}
setRested(settled || restCalibrationTrackers.length === 0);
}, [restCalibrationTrackers, settled, isCounting]);
useEffect(() => {
if (calibrationStatus === CalibrationStatus.CALIBRATING && !rested) {
@@ -145,7 +165,7 @@ export function CalibrationTutorialPage() {
</div>
<ProgressBar
progress={
isCounting
isCounting && settled
? (IMU_CALIBRATION_TIME - timer) / IMU_CALIBRATION_TIME
: calibrationStatus === CalibrationStatus.SUCCESS ||
calibrationStatus === CalibrationStatus.ERROR