attempt to implement madgwick (#10)

ControllerCommon/MadgwickAHRS.cs

@@ -0,0 +1,272 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace ControllerCommon
+{
+    /// <summary>
+    /// MadgwickAHRS class. Implementation of Madgwick's IMU and AHRS algorithms.
+    /// </summary>
+    /// <remarks>
+    /// See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
+    /// </remarks>
+    public class MadgwickAHRS
+    {
+        /// <summary>
+        /// Gets or sets the sample period.
+        /// </summary>
+        public float SamplePeriod { get; set; }
+
+        /// <summary>
+        /// Gets or sets the algorithm gain beta.
+        /// </summary>
+        public float Beta { get; set; }
+
+        /// <summary>
+        /// Gets or sets the Quaternion output.
+        /// </summary>
+        public float[] Quaternion { get; set; }
+
+        /// <summary>
+        /// Initializes a new instance of the <see cref="MadgwickAHRS"/> class.
+        /// </summary>
+        /// <param name="samplePeriod">
+        /// Sample period.
+        /// </param>
+        public MadgwickAHRS(float samplePeriod)
+            : this(samplePeriod, 1f)
+        {
+        }
+
+        /// <summary>
+        /// Initializes a new instance of the <see cref="MadgwickAHRS"/> class.
+        /// </summary>
+        /// <param name="samplePeriod">
+        /// Sample period.
+        /// </param>
+        /// <param name="beta">
+        /// Algorithm gain beta.
+        /// </param>
+        public MadgwickAHRS(float samplePeriod, float beta)
+        {
+            SamplePeriod = samplePeriod;
+            Beta = beta;
+            Quaternion = new float[] { 1f, 0f, 0f, 0f };
+        }
+
+        /// <summary>
+        /// Algorithm AHRS update method. Requires only gyroscope and accelerometer data.
+        /// </summary>
+        /// <param name="gx">
+        /// Gyroscope x axis measurement in radians/s.
+        /// </param>
+        /// <param name="gy">
+        /// Gyroscope y axis measurement in radians/s.
+        /// </param>
+        /// <param name="gz">
+        /// Gyroscope z axis measurement in radians/s.
+        /// </param>
+        /// <param name="ax">
+        /// Accelerometer x axis measurement in any calibrated units.
+        /// </param>
+        /// <param name="ay">
+        /// Accelerometer y axis measurement in any calibrated units.
+        /// </param>
+        /// <param name="az">
+        /// Accelerometer z axis measurement in any calibrated units.
+        /// </param>
+        /// <param name="mx">
+        /// Magnetometer x axis measurement in any calibrated units.
+        /// </param>
+        /// <param name="my">
+        /// Magnetometer y axis measurement in any calibrated units.
+        /// </param>
+        /// <param name="mz">
+        /// Magnetometer z axis measurement in any calibrated units.
+        /// </param>
+        /// <remarks>
+        /// Optimised for minimal arithmetic.
+        /// Total ±: 160
+        /// Total *: 172
+        /// Total /: 5
+        /// Total sqrt: 5
+        /// </remarks> 
+        public void Update(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz)
+        {
+            float q1 = Quaternion[0], q2 = Quaternion[1], q3 = Quaternion[2], q4 = Quaternion[3];   // short name local variable for readability
+            float norm;
+            float hx, hy, _2bx, _2bz;
+            float s1, s2, s3, s4;
+            float qDot1, qDot2, qDot3, qDot4;
+
+            // Auxiliary variables to avoid repeated arithmetic
+            float _2q1mx;
+            float _2q1my;
+            float _2q1mz;
+            float _2q2mx;
+            float _4bx;
+            float _4bz;
+            float _2q1 = 2f * q1;
+            float _2q2 = 2f * q2;
+            float _2q3 = 2f * q3;
+            float _2q4 = 2f * q4;
+            float _2q1q3 = 2f * q1 * q3;
+            float _2q3q4 = 2f * q3 * q4;
+            float q1q1 = q1 * q1;
+            float q1q2 = q1 * q2;
+            float q1q3 = q1 * q3;
+            float q1q4 = q1 * q4;
+            float q2q2 = q2 * q2;
+            float q2q3 = q2 * q3;
+            float q2q4 = q2 * q4;
+            float q3q3 = q3 * q3;
+            float q3q4 = q3 * q4;
+            float q4q4 = q4 * q4;
+
+            // Normalise accelerometer measurement
+            norm = (float)Math.Sqrt(ax * ax + ay * ay + az * az);
+            if (norm == 0f) return; // handle NaN
+            norm = 1 / norm;        // use reciprocal for division
+            ax *= norm;
+            ay *= norm;
+            az *= norm;
+
+            // Normalise magnetometer measurement
+            norm = (float)Math.Sqrt(mx * mx + my * my + mz * mz);
+            if (norm == 0f) return; // handle NaN
+            norm = 1 / norm;        // use reciprocal for division
+            mx *= norm;
+            my *= norm;
+            mz *= norm;
+
+            // Reference direction of Earth's magnetic field
+            _2q1mx = 2f * q1 * mx;
+            _2q1my = 2f * q1 * my;
+            _2q1mz = 2f * q1 * mz;
+            _2q2mx = 2f * q2 * mx;
+            hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz * q4 - mx * q3q3 - mx * q4q4;
+            hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
+            _2bx = (float)Math.Sqrt(hx * hx + hy * hy);
+            _2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
+            _4bx = 2f * _2bx;
+            _4bz = 2f * _2bz;
+
+            // Gradient decent algorithm corrective step
+            s1 = -_2q3 * (2f * q2q4 - _2q1q3 - ax) + _2q2 * (2f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
+            s2 = _2q4 * (2f * q2q4 - _2q1q3 - ax) + _2q1 * (2f * q1q2 + _2q3q4 - ay) - 4f * q2 * (1 - 2f * q2q2 - 2f * q3q3 - az) + _2bz * q4 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q3 + _2bz * q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q4 - _4bz * q2) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
+            s3 = -_2q1 * (2f * q2q4 - _2q1q3 - ax) + _2q4 * (2f * q1q2 + _2q3q4 - ay) - 4f * q3 * (1 - 2f * q2q2 - 2f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
+            s4 = _2q2 * (2f * q2q4 - _2q1q3 - ax) + _2q3 * (2f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz * q2) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 + _2bz * q3) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
+            norm = 1f / (float)Math.Sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4);    // normalise step magnitude
+            s1 *= norm;
+            s2 *= norm;
+            s3 *= norm;
+            s4 *= norm;
+
+            // Compute rate of change of quaternion
+            qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - Beta * s1;
+            qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - Beta * s2;
+            qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - Beta * s3;
+            qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - Beta * s4;
+
+            // Integrate to yield quaternion
+            q1 += qDot1 * SamplePeriod;
+            q2 += qDot2 * SamplePeriod;
+            q3 += qDot3 * SamplePeriod;
+            q4 += qDot4 * SamplePeriod;
+            norm = 1f / (float)Math.Sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);    // normalise quaternion
+            Quaternion[0] = q1 * norm;
+            Quaternion[1] = q2 * norm;
+            Quaternion[2] = q3 * norm;
+            Quaternion[3] = q4 * norm;
+        }
+
+        /// <summary>
+        /// Algorithm IMU update method. Requires only gyroscope and accelerometer data.
+        /// </summary>
+        /// <param name="gx">
+        /// Gyroscope x axis measurement in radians/s.
+        /// </param>
+        /// <param name="gy">
+        /// Gyroscope y axis measurement in radians/s.
+        /// </param>
+        /// <param name="gz">
+        /// Gyroscope z axis measurement in radians/s.
+        /// </param>
+        /// <param name="ax">
+        /// Accelerometer x axis measurement in any calibrated units.
+        /// </param>
+        /// <param name="ay">
+        /// Accelerometer y axis measurement in any calibrated units.
+        /// </param>
+        /// <param name="az">
+        /// Accelerometer z axis measurement in any calibrated units.
+        /// </param>
+        /// <remarks>
+        /// Optimised for minimal arithmetic.
+        /// Total ±: 45
+        /// Total *: 85
+        /// Total /: 3
+        /// Total sqrt: 3
+        /// </remarks>
+        public void Update(float gx, float gy, float gz, float ax, float ay, float az)
+        {
+            float q1 = Quaternion[0], q2 = Quaternion[1], q3 = Quaternion[2], q4 = Quaternion[3];   // short name local variable for readability
+            float norm;
+            float s1, s2, s3, s4;
+            float qDot1, qDot2, qDot3, qDot4;
+
+            // Auxiliary variables to avoid repeated arithmetic
+            float _2q1 = 2f * q1;
+            float _2q2 = 2f * q2;
+            float _2q3 = 2f * q3;
+            float _2q4 = 2f * q4;
+            float _4q1 = 4f * q1;
+            float _4q2 = 4f * q2;
+            float _4q3 = 4f * q3;
+            float _8q2 = 8f * q2;
+            float _8q3 = 8f * q3;
+            float q1q1 = q1 * q1;
+            float q2q2 = q2 * q2;
+            float q3q3 = q3 * q3;
+            float q4q4 = q4 * q4;
+
+            // Normalise accelerometer measurement
+            norm = (float)Math.Sqrt(ax * ax + ay * ay + az * az);
+            if (norm == 0f) return; // handle NaN
+            norm = 1 / norm;        // use reciprocal for division
+            ax *= norm;
+            ay *= norm;
+            az *= norm;
+
+            // Gradient decent algorithm corrective step
+            s1 = _4q1 * q3q3 + _2q3 * ax + _4q1 * q2q2 - _2q2 * ay;
+            s2 = _4q2 * q4q4 - _2q4 * ax + 4f * q1q1 * q2 - _2q1 * ay - _4q2 + _8q2 * q2q2 + _8q2 * q3q3 + _4q2 * az;
+            s3 = 4f * q1q1 * q3 + _2q1 * ax + _4q3 * q4q4 - _2q4 * ay - _4q3 + _8q3 * q2q2 + _8q3 * q3q3 + _4q3 * az;
+            s4 = 4f * q2q2 * q4 - _2q2 * ax + 4f * q3q3 * q4 - _2q3 * ay;
+            norm = 1f / (float)Math.Sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4);    // normalise step magnitude
+            s1 *= norm;
+            s2 *= norm;
+            s3 *= norm;
+            s4 *= norm;
+
+            // Compute rate of change of quaternion
+            qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - Beta * s1;
+            qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - Beta * s2;
+            qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - Beta * s3;
+            qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - Beta * s4;
+
+            // Integrate to yield quaternion
+            q1 += qDot1 * SamplePeriod;
+            q2 += qDot2 * SamplePeriod;
+            q3 += qDot3 * SamplePeriod;
+            q4 += qDot4 * SamplePeriod;
+            norm = 1f / (float)Math.Sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);    // normalise quaternion
+            Quaternion[0] = q1 * norm;
+            Quaternion[1] = q2 * norm;
+            Quaternion[2] = q3 * norm;
+            Quaternion[3] = q4 * norm;
+        }
+    }
+}

ControllerCommon/Utils.cs

@@ -179,6 +179,11 @@ public static string Between(string STR, string FirstString, string LastString)
             return FinalString;
         }
 
+        public static float deg2rad(float degrees)
+        {
+            return (float)((Math.PI / 180) * degrees);
+        }
+
         public static byte NormalizeInput(short input)
         {
             input = Math.Clamp(input, short.MinValue, short.MaxValue);

ControllerService/Targets/ViGEmTarget.cs

@@ -58,6 +58,8 @@ public void Girometer_ReadingChanged(XInputGirometer sender, Vector3 e)
             AngularVelocity.Z = e.Z;
         }
 
+        public MadgwickAHRS madgwick;
+
         protected ViGEmClient client { get; }
         protected IVirtualGamepad virtualController;
 
@@ -91,6 +93,7 @@ protected ViGEmTarget(XInputController xinput, ViGEmClient client, Controller co
             // initialize vectors
             AngularVelocity = new();
             Acceleration = new();
+            madgwick = new(1f / 14f, 0.1f);
 
             // initialize touch
             Touch = new();