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Attempt to fix roll correction

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This commit is contained in:
Nik Rozman
2026-03-01 22:12:23 +01:00
parent 9e481096be
commit b3cc319d5e
5 changed files with 25 additions and 60 deletions
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33
source/main.cpp
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@@ -327,15 +327,15 @@ void loop() {
#endif
// Gyro reads with optional temperature compensation
float gx, gy, gz;
float gx, gz;
#ifdef FEATURE_TEMP_COMPENSATION
float correction = TEMP_COMP_COEFF_DPS_C * (cachedTempC - calTempC);
gx = (imu.readFloatGyroX() - biasGX - correction) * (PI/180.0f);
gy = (imu.readFloatGyroY() - biasGY - correction) * (PI/180.0f);
(void)(imu.readFloatGyroY()); // GY unused — read to keep SPI/I2C sequence consistent
gz = (imu.readFloatGyroZ() - biasGZ - correction) * (PI/180.0f);
#else
gx = (imu.readFloatGyroX() - biasGX) * (PI/180.0f);
gy = (imu.readFloatGyroY() - biasGY) * (PI/180.0f);
(void)(imu.readFloatGyroY()); // GY unused — read to keep SPI/I2C sequence consistent
gz = (imu.readFloatGyroZ() - biasGZ) * (PI/180.0f);
#endif
@@ -343,14 +343,16 @@ void loop() {
float ay = imu.readFloatAccelY();
float az = imu.readFloatAccelZ();
// Complementary filter
// Complementary filter — gx=pitch axis, gz=yaw axis on this board layout
angleX = ALPHA*(angleX + gx*dt) + (1.0f - ALPHA)*atan2f(ax, sqrtf(ay*ay + az*az));
angleY = ALPHA*(angleY + gy*dt) + (1.0f - ALPHA)*atan2f(ay, sqrtf(ax*ax + az*az));
angleY = ALPHA*(angleY + gz*dt) + (1.0f - ALPHA)*atan2f(ay, sqrtf(ax*ax + az*az));
float fGy = (fabsf(gy) > cfg.deadZone) ? gy : 0.0f;
// Pan (cursor X) = gyro Z (yaw). Nod (cursor Y) = gyro X (pitch).
// Confirmed by serial diagnostics: GZ fires on left/right pan, GX fires on up/down nod.
float fGx = (fabsf(gx) > cfg.deadZone) ? gx : 0.0f;
float fGz = (fabsf(gz) > cfg.deadZone) ? gz : 0.0f;
bool moving = (fGy != 0.0f || fGz != 0.0f);
bool moving = (fGx != 0.0f || fGz != 0.0f);
if (moving) { idleFrames = 0; idleStartMs = 0; }
else { idleFrames++; if (idleStartMs == 0) idleStartMs = now; }
bool idle = (idleFrames >= IDLE_FRAMES);
@@ -369,11 +371,8 @@ void loop() {
accumX = accumY = 0.0f;
flags |= 0x01;
} else {
// World-frame gyro: rotate device axes by boot-pose yaw
float wGz = fGz * rollCos + fGy * rollSin;
float wGy = fGy * rollCos - fGz * rollSin;
float rawX = applyAcceleration(applyCurve(-wGz * cfg.sensitivity * dt));
float rawY = applyAcceleration(applyCurve(-wGy * cfg.sensitivity * dt));
float rawX = applyAcceleration(applyCurve(-fGz * cfg.sensitivity * dt));
float rawY = applyAcceleration(applyCurve(-fGx * cfg.sensitivity * dt));
if (cfg.axisFlip & 0x01) rawX = -rawX;
if (cfg.axisFlip & 0x02) rawY = -rawY;
accumX += rawX; accumY += rawY;
@@ -392,7 +391,7 @@ void loop() {
// Backing off — host TX buffer congested, skip to avoid 100ms block
} else {
ImuPacket pkt;
pkt.gyroY_mDPS = (int16_t)constrain(gy*(180.f/PI)*1000.f, -32000, 32000);
pkt.gyroX_mDPS = (int16_t)constrain(gx*(180.f/PI)*1000.f, -32000, 32000);
pkt.gyroZ_mDPS = (int16_t)constrain(gz*(180.f/PI)*1000.f, -32000, 32000);
pkt.accelX_mg = (int16_t)constrain(ax*1000.f, -32000, 32000);
pkt.accelY_mg = (int16_t)constrain(ay*1000.f, -32000, 32000);
@@ -426,12 +425,4 @@ void loop() {
}
}
#endif
#ifdef DEBUG
Serial.print("T="); Serial.print(cachedTempC,1);
Serial.print(" gy="); Serial.print(gy,3);
Serial.print(" gz="); Serial.print(gz,3);
Serial.print(" mx="); Serial.print(moveX);
Serial.print(" my="); Serial.println(moveY);
#endif
}