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Better smoothing

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Nik Rozman
2026-03-08 11:56:49 +01:00
parent 94f38975bd
commit 19b96c9b21
1 changed files with 14 additions and 1 deletions
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15
source/main.cpp
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@@ -59,6 +59,8 @@ TelemetryPacket telem = {};
// Tuning constants
const float ALPHA = 0.96f;
const int LOOP_RATE_MS = 10;
const float SMOOTH_LOW_RPS = 0.15f; // below this → heavy EMA smoothing (~8°/s)
const float SMOOTH_HIGH_RPS = 0.50f; // above this → no smoothing (~29°/s)
const int BIAS_SAMPLES = 200;
const int IDLE_FRAMES = 150;
const unsigned long BATT_REPORT_MS = 20000;
@@ -425,11 +427,15 @@ void loop() {
int8_t moveX = 0, moveY = 0;
uint8_t flags = 0;
static float smoothX = 0.0f, smoothY = 0.0f;
if (shocked) {
// Shock freeze - discard accumulated sub-pixel motion and suppress output
smoothX = smoothY = 0.0f;
accumX = accumY = 0.0f;
flags |= 0x08; // bit3 = shock freeze active
} else if (idle) {
smoothX = smoothY = 0.0f;
accumX = accumY = 0.0f;
flags |= 0x01;
} else {
@@ -437,7 +443,14 @@ void loop() {
float rawY = applyAcceleration(applyCurve(-fPitch * cfg.sensitivity * dt));
if (cfg.axisFlip & 0x01) rawX = -rawX;
if (cfg.axisFlip & 0x02) rawY = -rawY;
accumX += rawX; accumY += rawY;
// Tiered velocity smoothing: heavy EMA when nearly still, none when fast.
// Thresholds are in rad/s (angular rate), independent of sensitivity setting.
float speed = sqrtf(fYaw*fYaw + fPitch*fPitch);
float alpha = (speed < SMOOTH_LOW_RPS) ? 0.25f :
(speed < SMOOTH_HIGH_RPS) ? 0.65f : 1.00f;
smoothX = smoothX * (1.0f - alpha) + rawX * alpha;
smoothY = smoothY * (1.0f - alpha) + rawY * alpha;
accumX += smoothX; accumY += smoothY;
moveX = (int8_t)constrain((int)accumX, -127, 127);
moveY = (int8_t)constrain((int)accumY, -127, 127);
accumX -= moveX; accumY -= moveY;