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Fix enabling motion bias estimation #325

Merged
merged 2 commits into from
May 4, 2024
Merged

Fix enabling motion bias estimation #325

merged 2 commits into from
May 4, 2024

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kounocom
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motionBiasEstEnabled should be true if VQF_NO_MOTION_BIAS_ESTIMATION isn't defined

@unlogisch04
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I generally agree.
So that change will enable that feature for all. So is that a improvement?
@nekomona whats your meaning, can we just add it?

@kounocom
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kounocom commented May 4, 2024

To be clear this doesn't enable motion bias estimation - the user still needs to undefine VQF_NO_MOTION_BIAS_ESTIMATION, this only fixes enabling it

unlogisch04
unlogisch04 approved these changes May 4, 2024
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Looks good. No impact on not modified version.

@unlogisch04 unlogisch04 added this to the 0.4.1 milestone May 4, 2024
@ButterscotchV ButterscotchV merged commit 3ae17ab into SlimeVR:main May 4, 2024
1 check passed
@kounocom kounocom deleted the fix-enabling-mbe branch May 5, 2024 07:20
unlogisch04 added a commit to unlogisch04/SlimeVR-Tracker-ESP that referenced this pull request May 7, 2024
@unlogisch04
Squashed commit of the following:
e3e381f 
commit f6f227b
Author: unlogisch04 <[email protected]>
Date:   Mon May 6 22:00:58 2024 +0200

    L0ud sfusion1 (#6)

    * Update readme to mention BMI270 support.

    * Soft fusion sensor initial code, wip

    * Soft fusion ICM-42688-P lazy WIP implementation.

    * sfusion: Cleanup, implemented sensor frequency calibration

    * icm42688: add more comments, basic driver (no hw filtering) should be working

    * sfustion: compilation fix

    * sfusion: start calibration when upside down

    * cleanup: remove confusing had data flag

    * sensor manager: use unique_ptr instead of raw pointers

    * sfusion: big refactoring wip

    * sfusion: make aux work, at least sfusion sensors should now be functional

    * sfusion: lightweight implementation of BMI270 sensor, no sensitivity cal yet

    * sfusion: BMI270: added CRT and gyro zx factor. should be functionally equivalent to the old driver

    * Added lsm6dsv

    * Trying to work around esp32c3 compilation problem, not liking that solution

    * sfusion: fix problems found after rebase

    * Update README.md

    * Bump Arduino core to 3.0 to match GCC12

    * Remove fast pin swapping that is no longer compatible with arduino core v3

    * Bring back fast pin swapping

    * Update platformio-tools.ini

    * Fix accel timescale (calibration no longer takes forever)

    * Fix non-sfusion sensors

    * Added LSM6DSO and DSR support and refactored DSV support

    * Removed template float param from the implementation

    * sfusion: port MPU6050 driver wip, not expecting to be functional yet

    * sfusion: add headers specifying main code owners

    * connection: fix warning

    * update README.md

    * fshelper: fixed ESP8266 regression caused by abstracting FS access

    * sfusion: fix error on merge

    * bno080: differentiate bno080, bno085, bno086 again

    * sfusion: final touches

    * restore hadData functionality, implementing it in every sensor, made configured flag bno-only

    * fix address supplement in non-sfusion sensors, do i2c bus reset for all sensors

    * sfusion: make MPU6050 driver use normal MPU6050 ImuID, change eatSamplesAndReturn function to take ms instead of seconds

    * sfusion: hotfix, don't apply sensorOffset, it's applied in sensor base

    ---------

    Co-authored-by: Przemysław Romaniak <[email protected]>
    Co-authored-by: Gorbit99 <[email protected]>
    Co-authored-by: nekomona <[email protected]>
    Co-authored-by: nekomona <[email protected]>
    Co-authored-by: kounocom <[email protected]>
    Co-authored-by: Przemyslaw Romaniak <[email protected]>

commit 4157ab9
Author: unlogisch04 <[email protected]>
Date:   Mon May 6 21:34:53 2024 +0200

    add macro for calculating radians (#4)

    * feat: add macro for calculating radians

    * style: silence unused variable warning

    * remove unnecessary float cast in macro

    ---------

    Co-authored-by: Pespiri <[email protected]>
    Co-authored-by: Fredrik Hatletvedt <[email protected]>

commit 3ae17ab
Author: Meia Kouno <[email protected]>
Date:   Sun May 5 02:35:22 2024 +0300

    Fix enabling motion bias estimation (SlimeVR#325)

commit d71c65c
Author: unlogisch04 <[email protected]>
Date:   Sat May 4 19:04:08 2024 +0200

     fshelper: fixed ESP8266 regression caused by abstracting FS access SlimeVR#321 (SlimeVR#328)

    * fshelper: fixed ESP8266 regression caused by abstracting FS access SlimeVR#321

    * Removing not needed ifdef

    l0ud spotted that this is not need.

    Co-Authored-By: Przemyslaw Romaniak <[email protected]>

    ---------

    Co-authored-by: Przemyslaw Romaniak <[email protected]>
unlogisch04 added a commit to unlogisch04/SlimeVR-Tracker-ESP that referenced this pull request May 7, 2024
@unlogisch04 @jojos38
Jojo38 main (#8)
5f5ccf6 
* Beta v1.1

- Working BMI323 at 400hz gyro and 200hz accel
- Working BMM350 with sensor fusion

* Removed some forgotten variables

* Fixed a warning on & operand

* Tracking accuracy improvement test

- Added temperature calibration (untested yet)
- Set performance mode of gyro and accel to high

* Added auto calibration on rest

* Added sens calibration

* Fix copyright

* Fix copyright

* Fix CalibrationConfigType order

Fix CalibrationConfigType order to prevent existing configs from breaking

* Renamed lib files and added copyrights

* Fix typo in bmi323 include

* Fixed formatting, defines and prints

- Ran VSCode formatter on BMI323 files
- Changed const to define to save ram
- Changed serial to logger

* Squashed commit of the following:

commit f6f227b
Author: unlogisch04 <[email protected]>
Date:   Mon May 6 22:00:58 2024 +0200

    L0ud sfusion1 (#6)

    * Update readme to mention BMI270 support.

    * Soft fusion sensor initial code, wip

    * Soft fusion ICM-42688-P lazy WIP implementation.

    * sfusion: Cleanup, implemented sensor frequency calibration

    * icm42688: add more comments, basic driver (no hw filtering) should be working

    * sfustion: compilation fix

    * sfusion: start calibration when upside down

    * cleanup: remove confusing had data flag

    * sensor manager: use unique_ptr instead of raw pointers

    * sfusion: big refactoring wip

    * sfusion: make aux work, at least sfusion sensors should now be functional

    * sfusion: lightweight implementation of BMI270 sensor, no sensitivity cal yet

    * sfusion: BMI270: added CRT and gyro zx factor. should be functionally equivalent to the old driver

    * Added lsm6dsv

    * Trying to work around esp32c3 compilation problem, not liking that solution

    * sfusion: fix problems found after rebase

    * Update README.md

    * Bump Arduino core to 3.0 to match GCC12

    * Remove fast pin swapping that is no longer compatible with arduino core v3

    * Bring back fast pin swapping

    * Update platformio-tools.ini

    * Fix accel timescale (calibration no longer takes forever)

    * Fix non-sfusion sensors

    * Added LSM6DSO and DSR support and refactored DSV support

    * Removed template float param from the implementation

    * sfusion: port MPU6050 driver wip, not expecting to be functional yet

    * sfusion: add headers specifying main code owners

    * connection: fix warning

    * update README.md

    * fshelper: fixed ESP8266 regression caused by abstracting FS access

    * sfusion: fix error on merge

    * bno080: differentiate bno080, bno085, bno086 again

    * sfusion: final touches

    * restore hadData functionality, implementing it in every sensor, made configured flag bno-only

    * fix address supplement in non-sfusion sensors, do i2c bus reset for all sensors

    * sfusion: make MPU6050 driver use normal MPU6050 ImuID, change eatSamplesAndReturn function to take ms instead of seconds

    * sfusion: hotfix, don't apply sensorOffset, it's applied in sensor base

    ---------

    Co-authored-by: Przemysław Romaniak <[email protected]>
    Co-authored-by: Gorbit99 <[email protected]>
    Co-authored-by: nekomona <[email protected]>
    Co-authored-by: nekomona <[email protected]>
    Co-authored-by: kounocom <[email protected]>
    Co-authored-by: Przemyslaw Romaniak <[email protected]>

commit 4157ab9
Author: unlogisch04 <[email protected]>
Date:   Mon May 6 21:34:53 2024 +0200

    add macro for calculating radians (#4)

    * feat: add macro for calculating radians

    * style: silence unused variable warning

    * remove unnecessary float cast in macro

    ---------

    Co-authored-by: Pespiri <[email protected]>
    Co-authored-by: Fredrik Hatletvedt <[email protected]>

commit 3ae17ab
Author: Meia Kouno <[email protected]>
Date:   Sun May 5 02:35:22 2024 +0300

    Fix enabling motion bias estimation (SlimeVR#325)

commit d71c65c
Author: unlogisch04 <[email protected]>
Date:   Sat May 4 19:04:08 2024 +0200

     fshelper: fixed ESP8266 regression caused by abstracting FS access SlimeVR#321 (SlimeVR#328)

    * fshelper: fixed ESP8266 regression caused by abstracting FS access SlimeVR#321

    * Removing not needed ifdef

    l0ud spotted that this is not need.

    Co-Authored-By: Przemyslaw Romaniak <[email protected]>

    ---------

    Co-authored-by: Przemyslaw Romaniak <[email protected]>

* bmi323sensor.h update interface

* Fix Warning in sensor.cpp

---------

Co-authored-by: jojos38 <[email protected]>
Spacefish pushed a commit to Spacefish/SlimeVR-Tracker-ESP that referenced this pull request Jun 28, 2024
@kounocom @Spacefish
Fix enabling motion bias estimation (SlimeVR#325)
8cdd036
dingyifei added a commit to dingyifei/SlimeVR-Tracker-ESP that referenced this pull request Nov 24, 2024
@dingyifei
Squashed commit of the following:
518e365 
commit 56c3bbb
Author: Timo Witte <[email protected]>
Date:   Sat Jun 29 00:26:42 2024 +0200

    more change neutrality

commit c8b2b17
Author: Timo Witte <[email protected]>
Date:   Sat Jun 29 00:24:28 2024 +0200

    make it change neutral

commit 9fa57ec
Author: Timo Witte <[email protected]>
Date:   Sat Jun 29 00:23:47 2024 +0200

    remove 2s wait in main.cpp it´s not required

commit 69b07bc
Author: Timo Witte <[email protected]>
Date:   Sat Jun 29 00:21:17 2024 +0200

    remove change that does nothing

commit f6cd9a8
Author: Timo Witte <[email protected]>
Date:   Sat Jun 29 00:19:27 2024 +0200

    serial over USB

commit 6d37c3d
Author: Timo Witte <[email protected]>
Date:   Fri Jun 28 23:45:18 2024 +0200

    update to latest tasmota tools for ESP32C6

commit 11c7a60
Merge: 230d98b fef504e
Author: Spacefish <[email protected]>
Date:   Fri Jun 28 23:42:52 2024 +0200

    Merge branch 'main' into fix-compiler-error

commit 230d98b
Author: Timo Witte <[email protected]>
Date:   Fri Jun 28 23:41:24 2024 +0200

    add custom portmap for ESP32C6

commit 6914db2
Author: Timo Witte <[email protected]>
Date:   Fri Jun 28 19:47:07 2024 +0200

    dont double scan i2c address on bus for ESP32C6

commit 233b256
Author: JovannMC <[email protected]>
Date:   Tue Jun 25 14:36:31 2024 +0300

    Add Haritora to consts (SlimeVR#333)

    Add haritora consts, fix misspelling

commit 02bb9d3
Author: Przemyslaw Romaniak <[email protected]>
Date:   Tue Jun 25 12:57:18 2024 +0200

    SoftFusion sensor framework with BMI, ICM, LSM6, MPU sensor implementations (SlimeVR#322)

    * Update readme to mention BMI270 support.

    * Soft fusion sensor initial code, wip

    * Soft fusion ICM-42688-P lazy WIP implementation.

    * sfusion: Cleanup, implemented sensor frequency calibration

    * icm42688: add more comments, basic driver (no hw filtering) should be working

    * sfustion: compilation fix

    * sfusion: start calibration when upside down

    * cleanup: remove confusing had data flag

    * sensor manager: use unique_ptr instead of raw pointers

    * sfusion: big refactoring wip

    * sfusion: make aux work, at least sfusion sensors should now be functional

    * sfusion: lightweight implementation of BMI270 sensor, no sensitivity cal yet

    * sfusion: BMI270: added CRT and gyro zx factor. should be functionally equivalent to the old driver

    * Added lsm6dsv

    * Trying to work around esp32c3 compilation problem, not liking that solution

    * sfusion: fix problems found after rebase

    * Update README.md

    * Bump Arduino core to 3.0 to match GCC12

    * Remove fast pin swapping that is no longer compatible with arduino core v3

    * Bring back fast pin swapping

    * Update platformio-tools.ini

    * Fix accel timescale (calibration no longer takes forever)

    * Fix non-sfusion sensors

    * Added LSM6DSO and DSR support and refactored DSV support

    * Removed template float param from the implementation

    * sfusion: port MPU6050 driver wip, not expecting to be functional yet

    * sfusion: add headers specifying main code owners

    * connection: fix warning

    * update README.md

    * fshelper: fixed ESP8266 regression caused by abstracting FS access

    * sfusion: fix error on merge

    * bno080: differentiate bno080, bno085, bno086 again

    * sfusion: final touches

    * restore hadData functionality, implementing it in every sensor, made configured flag bno-only

    * fix address supplement in non-sfusion sensors, do i2c bus reset for all sensors

    * sfusion: make MPU6050 driver use normal MPU6050 ImuID, change eatSamplesAndReturn function to take ms instead of seconds

    * sfusion: hotfix, don't apply sensorOffset, it's applied in sensor base

    * Log FIFO overruns on LSMs

    * Reset the soft watchdog while eating or collecting calibration samples

    Resolves an issue where the soft watchdog would trigger.

    * Fix missing word in comment, switch to constexpr

    * Update esp32/esp8266

    ---------

    Co-authored-by: Gorbit99 <[email protected]>
    Co-authored-by: nekomona <[email protected]>
    Co-authored-by: nekomona <[email protected]>
    Co-authored-by: unlogisch04 <[email protected]>
    Co-authored-by: kounocom <[email protected]>
    Co-authored-by: Kubuxu <[email protected]>

commit e04d269
Author: Fredrik Hatletvedt <[email protected]>
Date:   Thu Jun 20 01:35:00 2024 +0200

    add macro for calculating radians (SlimeVR#317)

    * feat: add macro for calculating radians

    * style: silence unused variable warning

    * remove unnecessary float cast in macro

commit 2d2b21f
Author: Timo Witte <[email protected]>
Date:   Sun May 26 20:05:48 2024 +0200

    fix pre-processor warning

commit 8cdd036
Author: Meia Kouno <[email protected]>
Date:   Sun May 5 02:35:22 2024 +0300

    Fix enabling motion bias estimation (SlimeVR#325)

commit 572c9be
Author: unlogisch04 <[email protected]>
Date:   Sat May 4 19:04:08 2024 +0200

     fshelper: fixed ESP8266 regression caused by abstracting FS access SlimeVR#321 (SlimeVR#328)

    * fshelper: fixed ESP8266 regression caused by abstracting FS access SlimeVR#321

    * Removing not needed ifdef

    l0ud spotted that this is not need.

    Co-Authored-By: Przemyslaw Romaniak <[email protected]>

    ---------

    Co-authored-by: Przemyslaw Romaniak <[email protected]>

commit b70eb62
Author: Timo Witte <[email protected]>
Date:   Thu May 2 00:51:05 2024 +0200

    ESP32C6 support

commit 8b43c3d
Author: Timo Witte <[email protected]>
Date:   Wed May 1 20:10:44 2024 +0200

    Designate all initializer clauses to fix compiler errors with newer
    compilers
Eirenliel added a commit that referenced this pull request Dec 11, 2024
@Spacefish @unlogisch04
@l0ud @kounocom @Pespiri @gorbit99 @nekomona @Kubuxu @JovannMC @Eirenliel
ESP32-C6 support (#327)
457fe2c 
* Designate all initializer clauses to fix compiler errors with newer
compilers

* ESP32C6 support

* fshelper: fixed ESP8266 regression caused by abstracting FS access #321 (#328)

* fshelper: fixed ESP8266 regression caused by abstracting FS access #321

* Removing not needed ifdef

l0ud spotted that this is not need.

Co-Authored-By: Przemyslaw Romaniak <[email protected]>

---------

Co-authored-by: Przemyslaw Romaniak <[email protected]>

* Fix enabling motion bias estimation (#325)

* fix pre-processor warning

* add macro for calculating radians (#317)

* feat: add macro for calculating radians

* style: silence unused variable warning

* remove unnecessary float cast in macro

* SoftFusion sensor framework with BMI, ICM, LSM6, MPU sensor implementations (#322)

* Update readme to mention BMI270 support.

* Soft fusion sensor initial code, wip

* Soft fusion ICM-42688-P lazy WIP implementation.

* sfusion: Cleanup, implemented sensor frequency calibration

* icm42688: add more comments, basic driver (no hw filtering) should be working

* sfustion: compilation fix

* sfusion: start calibration when upside down

* cleanup: remove confusing had data flag

* sensor manager: use unique_ptr instead of raw pointers

* sfusion: big refactoring wip

* sfusion: make aux work, at least sfusion sensors should now be functional

* sfusion: lightweight implementation of BMI270 sensor, no sensitivity cal yet

* sfusion: BMI270: added CRT and gyro zx factor. should be functionally equivalent to the old driver

* Added lsm6dsv

* Trying to work around esp32c3 compilation problem, not liking that solution

* sfusion: fix problems found after rebase

* Update README.md

* Bump Arduino core to 3.0 to match GCC12

* Remove fast pin swapping that is no longer compatible with arduino core v3

* Bring back fast pin swapping

* Update platformio-tools.ini

* Fix accel timescale (calibration no longer takes forever)

* Fix non-sfusion sensors

* Added LSM6DSO and DSR support and refactored DSV support

* Removed template float param from the implementation

* sfusion: port MPU6050 driver wip, not expecting to be functional yet

* sfusion: add headers specifying main code owners

* connection: fix warning

* update README.md

* fshelper: fixed ESP8266 regression caused by abstracting FS access

* sfusion: fix error on merge

* bno080: differentiate bno080, bno085, bno086 again

* sfusion: final touches

* restore hadData functionality, implementing it in every sensor, made configured flag bno-only

* fix address supplement in non-sfusion sensors, do i2c bus reset for all sensors

* sfusion: make MPU6050 driver use normal MPU6050 ImuID, change eatSamplesAndReturn function to take ms instead of seconds

* sfusion: hotfix, don't apply sensorOffset, it's applied in sensor base

* Log FIFO overruns on LSMs

* Reset the soft watchdog while eating or collecting calibration samples

Resolves an issue where the soft watchdog would trigger.

* Fix missing word in comment, switch to constexpr

* Update esp32/esp8266

---------

Co-authored-by: Gorbit99 <[email protected]>
Co-authored-by: nekomona <[email protected]>
Co-authored-by: nekomona <[email protected]>
Co-authored-by: unlogisch04 <[email protected]>
Co-authored-by: kounocom <[email protected]>
Co-authored-by: Kubuxu <[email protected]>

* Add Haritora to consts (#333)

Add haritora consts, fix misspelling

* dont double scan i2c address on bus for ESP32C6

* add custom portmap for ESP32C6

* update to latest tasmota tools for ESP32C6

* serial over USB

* remove change that does nothing

* remove 2s wait in main.cpp it´s not required

* make it change neutral

* more change neutrality

---------

Co-authored-by: unlogisch04 <[email protected]>
Co-authored-by: Przemyslaw Romaniak <[email protected]>
Co-authored-by: Meia Kouno <[email protected]>
Co-authored-by: Fredrik Hatletvedt <[email protected]>
Co-authored-by: Przemyslaw Romaniak <[email protected]>
Co-authored-by: Gorbit99 <[email protected]>
Co-authored-by: nekomona <[email protected]>
Co-authored-by: nekomona <[email protected]>
Co-authored-by: kounocom <[email protected]>
Co-authored-by: Kubuxu <[email protected]>
Co-authored-by: JovannMC <[email protected]>
Co-authored-by: Eiren Rain <[email protected]>
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@kounocom @unlogisch04 @ButterscotchV