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[Stay Aligned] Add small yaw rotations to keep trackers aligned #1293

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[Stay Aligned] Add small yaw rotations to keep trackers aligned #1293

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00d4e51
[Stay Aligned] Add small yaw rotations to keep trackers aligned
jabberrock Nov 16, 2024
9c11460
Remove removed hideYawCorrection property
jabberrock Feb 2, 2025
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20 changes: 20 additions & 0 deletions gui/public/i18n/en/translation.ftl
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Original file line number Diff line number Diff line change
Expand Up @@ -185,6 +185,7 @@ widget-imu_visualizer-rotation_raw = Raw rotation
widget-imu_visualizer-rotation_preview = Preview rotation
widget-imu_visualizer-acceleration = Acceleration
widget-imu_visualizer-position = Position
widget-imu_visualizer-stay_aligned = Stay Aligned

## Widget: Skeleton Visualizer
widget-skeleton_visualizer-preview = Skeleton preview
Expand All @@ -209,6 +210,7 @@ tracker-table-column-temperature = Temp. °C
tracker-table-column-linear-acceleration = Accel. X/Y/Z
tracker-table-column-rotation = Rotation X/Y/Z
tracker-table-column-position = Position X/Y/Z
tracker-table-column-stay_aligned = Stay Aligned
tracker-table-column-url = URL

## Tracker rotation
Expand Down Expand Up @@ -338,6 +340,7 @@ mounting_selection_menu-close = Close
settings-sidebar-title = Settings
settings-sidebar-general = General
settings-sidebar-tracker_mechanics = Tracker mechanics
settings-sidebar-stay_aligned = Stay Aligned
settings-sidebar-fk_settings = Tracking settings
settings-sidebar-gesture_control = Gesture control
settings-sidebar-interface = Interface
Expand Down Expand Up @@ -428,6 +431,23 @@ settings-general-tracker_mechanics-use_mag_on_all_trackers-description =
Can be disabled per tracker in the tracker's settings. <b>Please don't shutdown any of the trackers while toggling this!</b>
settings-general-tracker_mechanics-use_mag_on_all_trackers-label = Use magnetometer on trackers

settings-general-stay_aligned = Stay Aligned
settings-general-stay_aligned-description = Keeps your trackers aligned by slowly adjusting the yaw of your trackers.
settings-general-stay_aligned-warnings-drift_compensation = ⚠ Please disable "Drift Compensation". Stay Aligned and Drift Compensation try to solve the same problem and only one should be enabled.
settings-general-stay_aligned-enabled-label = Enabled
settings-general-stay_aligned-amount-label = Maximum yaw adjustment rate
settings-general-stay_aligned-amount-description = Pick a rate depending on how good your IMU is: 0.1 deg/s for ICM45686, LSM6DSV or BNO085; 0.2 deg/s for LSM6DSR or BMI270; and 0.4 deg/s for BMI160.
settings-general-stay_aligned-relaxed_body_angles-label = Relaxed Body Angles
settings-general-stay_aligned-relaxed_body_angles-description = Stay Aligned needs to know your pose when you are relaxed. These angles describe how much you twist your legs and feet outwards. Do a yaw reset, then stand in a relaxed position, and press "Auto detect angles". Repeat while relaxing in a chair, and lying on your back.
settings-general-stay_aligned-relaxed_body_angles-standing-label = Standing
settings-general-stay_aligned-relaxed_body_angles-sitting-label = Sitting in chair
settings-general-stay_aligned-relaxed_body_angles-lying_on_back-label = Lying on back
settings-general-stay_aligned-relaxed_body_angles-upper_leg_angle = Upper leg
settings-general-stay_aligned-relaxed_body_angles-lower_leg_angle = Lower leg
settings-general-stay_aligned-relaxed_body_angles-foot_angle = Foot
settings-general-stay_aligned-relaxed_body_angles-auto_detect = Auto detect angles
settings-general-stay_aligned-relaxed_body_angles-reset = Reset angles

## FK/Tracking settings
settings-general-fk_settings = Tracking settings

Expand Down
3 changes: 3 additions & 0 deletions gui/src/components/settings/SettingsSidebar.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,9 @@ export function SettingsSidebar() {
<SettingsLink to="/settings/trackers" scrollTo="mechanics">
{l10n.getString('settings-sidebar-tracker_mechanics')}
</SettingsLink>
<SettingsLink to="/settings/trackers" scrollTo="stayaligned">
{l10n.getString('settings-general-stay_aligned')}
</SettingsLink>
<SettingsLink to="/settings/trackers" scrollTo="fksettings">
{l10n.getString('settings-sidebar-fk_settings')}
</SettingsLink>
Expand Down
59 changes: 58 additions & 1 deletion gui/src/components/settings/pages/GeneralSettings.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@ import {
SettingsResponseT,
SteamVRTrackersSettingT,
TapDetectionSettingsT,
YawCorrectionSettingsT,
} from 'solarxr-protocol';
import { useConfig } from '@/hooks/config';
import { useWebsocketAPI } from '@/hooks/websocket-api';
Expand All @@ -33,8 +34,9 @@ import {
import { HandsWarningModal } from '@/components/settings/HandsWarningModal';
import { MagnetometerToggleSetting } from './MagnetometerToggleSetting';
import { DriftCompensationModal } from '@/components/settings/DriftCompensationModal';
import { StayAlignedSettings } from './components/StayAlignedSettings';

interface SettingsForm {
export interface SettingsForm {
trackers: {
waist: boolean;
chest: boolean;
Expand Down Expand Up @@ -104,6 +106,18 @@ interface SettingsForm {
saveMountingReset: boolean;
resetHmdPitch: boolean;
};
yawCorrectionSettings: {
enabled: boolean;
amountInDegPerSec: number;
standingUpperLegAngle: number;
standingLowerLegAngle: number;
standingFootAngle: number;
sittingUpperLegAngle: number;
sittingLowerLegAngle: number;
sittingFootAngle: number;
lyingOnBackUpperLegAngle: number;
lyingOnBackLowerLegAngle: number;
};
}

const defaultValues: SettingsForm = {
Expand Down Expand Up @@ -171,6 +185,18 @@ const defaultValues: SettingsForm = {
saveMountingReset: false,
resetHmdPitch: false,
},
yawCorrectionSettings: {
enabled: true,
amountInDegPerSec: 0.2,
standingUpperLegAngle: 0.0,
standingLowerLegAngle: 0.0,
standingFootAngle: 0.0,
sittingUpperLegAngle: 0.0,
sittingLowerLegAngle: 0.0,
sittingFootAngle: 0.0,
lyingOnBackUpperLegAngle: 0.0,
lyingOnBackLowerLegAngle: 0.0,
},
};

export function GeneralSettings() {
Expand Down Expand Up @@ -300,6 +326,28 @@ export function GeneralSettings() {
driftCompensation.maxResets = values.driftCompensation.maxResets;
settings.driftCompensation = driftCompensation;

const yawCorrectionSettings = new YawCorrectionSettingsT();
yawCorrectionSettings.enabled = values.yawCorrectionSettings.enabled;
yawCorrectionSettings.amountInDegPerSec =
values.yawCorrectionSettings.amountInDegPerSec;
yawCorrectionSettings.standingUpperLegAngle =
values.yawCorrectionSettings.standingUpperLegAngle;
yawCorrectionSettings.standingLowerLegAngle =
values.yawCorrectionSettings.standingLowerLegAngle;
yawCorrectionSettings.standingFootAngle =
values.yawCorrectionSettings.standingFootAngle;
yawCorrectionSettings.sittingUpperLegAngle =
values.yawCorrectionSettings.sittingUpperLegAngle;
yawCorrectionSettings.sittingLowerLegAngle =
values.yawCorrectionSettings.sittingLowerLegAngle;
yawCorrectionSettings.sittingFootAngle =
values.yawCorrectionSettings.sittingFootAngle;
yawCorrectionSettings.lyingOnBackUpperLegAngle =
values.yawCorrectionSettings.lyingOnBackUpperLegAngle;
yawCorrectionSettings.lyingOnBackLowerLegAngle =
values.yawCorrectionSettings.lyingOnBackLowerLegAngle;
settings.yawCorrectionSettings = yawCorrectionSettings;

if (values.resetsSettings) {
const resetsSettings = new ResetsSettingsT();
resetsSettings.resetMountingFeet =
Expand Down Expand Up @@ -423,6 +471,10 @@ export function GeneralSettings() {
formData.resetsSettings = settings.resetsSettings;
}

if (settings.yawCorrectionSettings) {
formData.yawCorrectionSettings = settings.yawCorrectionSettings;
}

reset({ ...getValues(), ...formData });
});

Expand Down Expand Up @@ -824,6 +876,11 @@ export function GeneralSettings() {
/>
</>
</SettingsPagePaneLayout>
<StayAlignedSettings
getValues={getValues}
setValue={setValue}
control={control}
/>
<SettingsPagePaneLayout
icon={<WrenchIcon></WrenchIcon>}
id="fksettings"
Expand Down
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