core: hid: Allow to calibrate gyro sensor

src/core/hid/emulated_controller.cpp

@@ -688,6 +688,12 @@ void EmulatedController::SetMotionParam(std::size_t index, Common::ParamPackage
     ReloadInput();
 }
 
+void EmulatedController::StartMotionCalibration() {
+    for (ControllerMotionInfo& motion : controller.motion_values) {
+        motion.emulated.Calibrate();
+    }
+}
+
 void EmulatedController::SetButton(const Common::Input::CallbackStatus& callback, std::size_t index,
                                    Common::UUID uuid) {
     if (index >= controller.button_values.size()) {

src/core/hid/emulated_controller.h

@@ -290,6 +290,9 @@ public:
      */
     void SetMotionParam(std::size_t index, Common::ParamPackage param);
 
+    /// Auto calibrates the current motion devices
+    void StartMotionCalibration();
+
     /// Returns the latest button status from the controller with parameters
     ButtonValues GetButtonsValues() const;
 

src/core/hid/motion_input.cpp

@@ -37,11 +37,17 @@ void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
     gyro.y = std::clamp(gyro.y, -GyroMaxValue, GyroMaxValue);
     gyro.z = std::clamp(gyro.z, -GyroMaxValue, GyroMaxValue);
 
-    // Auto adjust drift to minimize drift
+    // Auto adjust gyro_bias to minimize drift
     if (!IsMoving(IsAtRestRelaxed)) {
         gyro_bias = (gyro_bias * 0.9999f) + (gyroscope * 0.0001f);
     }
 
+    // Adjust drift when calibration mode is enabled
+    if (calibration_mode) {
+        gyro_bias = (gyro_bias * 0.99f) + (gyroscope * 0.01f);
+        StopCalibration();
+    }
+
     if (gyro.Length() < gyro_threshold * user_gyro_threshold) {
         gyro = {};
     } else {
@@ -107,6 +113,19 @@ void MotionInput::UpdateRotation(u64 elapsed_time) {
     rotations += gyro * sample_period;
 }
 
+void MotionInput::Calibrate() {
+    calibration_mode = true;
+    calibration_counter = 0;
+}
+
+void MotionInput::StopCalibration() {
+    if (calibration_counter++ > CalibrationSamples) {
+        calibration_mode = false;
+        ResetQuaternion();
+        ResetRotations();
+    }
+}
+
 // Based on Madgwick's implementation of Mayhony's AHRS algorithm.
 // https://github.com/xioTechnologies/Open-Source-AHRS-With-x-IMU/blob/master/x-IMU%20IMU%20and%20AHRS%20Algorithms/x-IMU%20IMU%20and%20AHRS%20Algorithms/AHRS/MahonyAHRS.cs
 void MotionInput::UpdateOrientation(u64 elapsed_time) {

src/core/hid/motion_input.h

@@ -23,6 +23,8 @@ public:
     static constexpr float GyroMaxValue = 5.0f;
     static constexpr float AccelMaxValue = 7.0f;
 
+    static constexpr std::size_t CalibrationSamples = 300;
+
     explicit MotionInput();
 
     MotionInput(const MotionInput&) = default;
@@ -49,6 +51,8 @@ public:
     void UpdateRotation(u64 elapsed_time);
     void UpdateOrientation(u64 elapsed_time);
 
+    void Calibrate();
+
     [[nodiscard]] std::array<Common::Vec3f, 3> GetOrientation() const;
     [[nodiscard]] Common::Vec3f GetAcceleration() const;
     [[nodiscard]] Common::Vec3f GetGyroscope() const;
@@ -61,6 +65,7 @@ public:
     [[nodiscard]] bool IsCalibrated(f32 sensitivity) const;
 
 private:
+    void StopCalibration();
     void ResetOrientation();
     void SetOrientationFromAccelerometer();
 
@@ -103,6 +108,12 @@ private:
 
     // Use accelerometer values to calculate position
     bool only_accelerometer = true;
+
+    // When enabled it will aggressively adjust for gyro drift
+    bool calibration_mode = false;
+
+    // Used to auto disable calibration mode
+    std::size_t calibration_counter = 0;
 };
 
 } // namespace Core::HID