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carl-anders / slimevr-wrangler

Use Joycons as SlimeVR trackers with this middleware application
Apache License 2.0
105 stars 15 forks source link

VQF Sensor Fusion #15

Closed kitlith closed 1 year ago

kitlith commented 1 year ago

Currently the ahrs crate is just kinda commented out? but we can probably figure something out to let us swap between sensor fusion algos if we want.

kitlith commented 1 year ago

@carl-anders so i just tested this, seems to work okay, seems to handle "static drift" like a champ. switching to vqf by default might remove the need for people to calibrate using their switch or using steam for "static drift".

So that leaves: is there any other work ? Should we remove the use of the ahrs crate, which this PR currently does? (except if we do that i should remove all the commented out parts) Is there anything that needs to be done on vqf-cxx's (my bindings crate) end? Should we add a framework for swapping out fusion algorithms at {compile,run}time?

kitlith commented 1 year ago

From discord convo: current plan appears to be to remove the ahrs dependency (aka the only GPL dependency) and switch entirely to vqf. removing commented out bits regarding ahrs.