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Code Issues 159 Packages Projects Releases Wiki Activity

[Stay Aligned] Select yaw correction rate based on IMU type (#1438)

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This commit is contained in:
jabberrock
2025-05-21 12:34:20 -07:00
committed by GitHub
parent b58e9b9074
commit c56d953516
5 changed files with 40 additions and 23 deletions
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10
server/core/src/main/java/dev/slimevr/config/StayAlignedConfig.kt
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@@ -9,16 +9,6 @@ class StayAlignedConfig {
*/
var enabled = false
/**
* Applies extra yaw correction to support worse IMUs
*
* We could let players choose a yaw correction amount instead, but this lead to
* players agonizing about choosing the "right" yaw correction amount. In practice,
* we only need 2 yaw correction amounts - a default one for most IMUs, and an extra
* one for terrible IMUs.
*/
var extraYawCorrection = false
/**
* Temporarily hide the yaw correction from Stay Aligned.
*

2
server/core/src/main/java/dev/slimevr/protocol/rpc/settings/RPCSettingsBuilderKotlin.kt
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@@ -14,7 +14,7 @@ object RPCSettingsBuilderKotlin {
.createStayAlignedSettings(
fbb,
config.enabled,
config.extraYawCorrection,
false, // deprecated
config.hideYawCorrection,
config.standingRelaxedPose.enabled,
config.standingRelaxedPose.upperLegAngleInDeg,

1
server/core/src/main/java/dev/slimevr/protocol/rpc/settings/RPCSettingsHandler.kt
View File

@@ -353,7 +353,6 @@ class RPCSettingsHandler(var rpcHandler: RPCHandler, var api: ProtocolAPI) {
val config = api.server.configManager.vrConfig.stayAlignedConfig
val requestConfig = req.stayAligned()
config.enabled = requestConfig.enabled()
config.extraYawCorrection = requestConfig.extraYawCorrection()
config.hideYawCorrection = requestConfig.hideYawCorrection()
config.standingRelaxedPose.enabled = requestConfig.standingEnabled()
config.standingRelaxedPose.upperLegAngleInDeg = requestConfig.standingUpperLegAngle()

12
server/core/src/main/java/dev/slimevr/tracking/processor/stayaligned/StayAligned.kt
View File

@@ -2,8 +2,9 @@ package dev.slimevr.tracking.processor.stayaligned
import dev.slimevr.VRServer
import dev.slimevr.config.StayAlignedConfig
import dev.slimevr.tracking.processor.stayaligned.StayAlignedDefaults.EXTRA_YAW_CORRECTION_PER_SEC
import dev.slimevr.tracking.processor.stayaligned.StayAlignedDefaults.YAW_CORRECTION_PER_SEC
import dev.slimevr.math.Angle
import dev.slimevr.tracking.processor.stayaligned.StayAlignedDefaults.IMU_TO_YAW_CORRECTION
import dev.slimevr.tracking.processor.stayaligned.StayAlignedDefaults.YAW_CORRECTION_DEFAULT
import dev.slimevr.tracking.processor.stayaligned.adjust.AdjustTrackerYaw
import dev.slimevr.tracking.processor.stayaligned.trackers.TrackerSkeleton
@@ -37,9 +38,10 @@ object StayAligned {
// Update hide correction since the config could have changed
trackerToAdjust.stayAligned.hideCorrection = config.hideYawCorrection
var yawCorrectionPerSec = YAW_CORRECTION_PER_SEC
if (config.extraYawCorrection) {
yawCorrectionPerSec += EXTRA_YAW_CORRECTION_PER_SEC
val yawCorrectionPerSec =
IMU_TO_YAW_CORRECTION.getOrDefault(trackerToAdjust.imuType, YAW_CORRECTION_DEFAULT)
if (yawCorrectionPerSec == Angle.ZERO) {
return
}
// Scale yaw correction since we're only updating one tracker per tick

38
server/core/src/main/java/dev/slimevr/tracking/processor/stayaligned/StayAlignedDefaults.kt
View File

@@ -3,6 +3,7 @@ package dev.slimevr.tracking.processor.stayaligned
import dev.slimevr.math.Angle
import dev.slimevr.tracking.processor.stayaligned.poses.RelaxedPose
import dev.slimevr.tracking.processor.stayaligned.trackers.RestDetector
import dev.slimevr.tracking.trackers.udp.IMUType
import kotlin.time.Duration.Companion.seconds
/**
@@ -11,12 +12,6 @@ import kotlin.time.Duration.Companion.seconds
*/
object StayAlignedDefaults {
// Maximum yaw correction to apply
val YAW_CORRECTION_PER_SEC = Angle.ofDeg(0.20f)
// Extra yaw correction to apply to terrible IMUs
val EXTRA_YAW_CORRECTION_PER_SEC = Angle.ofDeg(0.20f)
// Rest detector for detecting when trackers are at rest
fun makeRestDetector() =
RestDetector(
@@ -44,4 +39,35 @@ object StayAlignedDefaults {
const val YAW_ERRORS_LOCKED_ERROR_WEIGHT = 10.0f
const val YAW_ERRORS_CENTER_ERROR_WEIGHT = 2.0f
const val YAW_ERRORS_NEIGHBOR_ERROR_WEIGHT = 1.0f
// Yaw correction for each type of IMU
val YAW_CORRECTION_IMU_GOOD = Angle.ofDeg(0.1f)
val YAW_CORRECTION_IMU_OK = Angle.ofDeg(0.2f)
val YAW_CORRECTION_IMU_BAD = Angle.ofDeg(0.4f)
val YAW_CORRECTION_IMU_DISABLED = Angle.ZERO
val IMU_TO_YAW_CORRECTION = buildMap {
// Mag is enabled on MPU9250 but server doesn't know about it
set(IMUType.MPU9250, YAW_CORRECTION_IMU_DISABLED)
set(IMUType.MPU6500, YAW_CORRECTION_IMU_BAD)
set(IMUType.BNO080, YAW_CORRECTION_IMU_GOOD)
set(IMUType.BNO085, YAW_CORRECTION_IMU_GOOD)
set(IMUType.BNO055, YAW_CORRECTION_IMU_BAD)
set(IMUType.MPU6050, YAW_CORRECTION_IMU_BAD)
set(IMUType.BNO086, YAW_CORRECTION_IMU_GOOD)
set(IMUType.BMI160, YAW_CORRECTION_IMU_BAD)
set(IMUType.ICM20948, YAW_CORRECTION_IMU_BAD)
set(IMUType.ICM42688, YAW_CORRECTION_IMU_OK)
set(IMUType.BMI270, YAW_CORRECTION_IMU_OK)
set(IMUType.LSM6DS3TRC, YAW_CORRECTION_IMU_BAD)
set(IMUType.LSM6DSV, YAW_CORRECTION_IMU_GOOD)
set(IMUType.LSM6DSO, YAW_CORRECTION_IMU_OK)
set(IMUType.LSM6DSR, YAW_CORRECTION_IMU_GOOD)
set(IMUType.ICM45686, YAW_CORRECTION_IMU_GOOD)
set(IMUType.ICM45605, YAW_CORRECTION_IMU_GOOD)
}
// Assume any new IMUs are at least OK, or else we wouldn't be writing firmware to
// support it. Please classify and add new IMUs to the map above!
val YAW_CORRECTION_DEFAULT = YAW_CORRECTION_IMU_OK
}