dualsense_tools/tilt_estimator/
config.rs

1/// Configuration for a [crate::TiltEstimator]; the `SAMPLES` constant will determine
2/// how big a buffer of accelerometer readings to keep in order to compute
3/// the accelerometer's average over time.
4#[derive(Copy, Clone, Debug, PartialEq)]
5pub struct TiltEstimatorConfig<const SAMPLES: usize> {
6    /// Value in [0..1] where 0 is purely accelerometer and 1 purely integrated gyro
7    pub correction_alpha: f32,
8    /// Used to scale the gyro force strenght when integrating gyro values
9    pub integration_alpha: f32,
10    /// Whether to integrate gyro values or only use accelerometer averages
11    pub use_gyro_integration: bool,
12}
13
14impl<const SAMPLES: usize> TiltEstimatorConfig<SAMPLES> {
15    pub fn new() -> TiltEstimatorConfig<SAMPLES> {
16        TiltEstimatorConfig::<SAMPLES>::default()
17    }
18}
19
20impl<const N: usize> Default for TiltEstimatorConfig<N> {
21    fn default() -> Self {
22        Self {
23            // Give more weight to the accelerometer as less noisy overall
24            correction_alpha: 0.25,
25            // Dampen gyroscope to avoid overshooting/instability
26            integration_alpha: 0.7,
27            // Enable gyro integration to strive for both reactivity and precision
28            use_gyro_integration: true,
29        }
30    }
31}
dualsense_tools/tilt_estimator/config.rs

dualsense_tools/tilt_estimator/
config.rs
