Changed nm filter to use vectors and quaterions like the hamilton filter for a spherical deadzone

8 files changed, 136 insertions, 531 deletions

diff --git a/filter-nm/ftnoir_filter_nm.cpp b/filter-nm/ftnoir_filter_nm.cpp
index cd395f1b..5d274790 100644
--- a/filter-nm/ftnoir_filter_nm.cpp
+++ b/filter-nm/ftnoir_filter_nm.cpp
@@ -19,32 +19,47 @@ filter_nm::filter_nm()
 
 void filter_nm::filter(const double* input, double* output)
 {
+    tVector position = { input[TX], input[TY], input[TZ] };
+    tQuat rotation = QuatFromYPR(input + Yaw);
+
     // order of axes: x, y, z, yaw, pitch, roll
     if (unlikely(first_run))
     {
         first_run = false;
         t.start();
 
-        std::fill(speeds, speeds + 6, 0.0);
-        std::copy(input, input + 6, filtered_output);
+        last_pos_speed = tVector();
+        last_rot_speed = tQuat();
+        last_pos_out = position;
+        last_rot_out = rotation;
     }
     else
     {
         const double dt = t.elapsed_seconds();
         t.start();
 
-        for (int i = 0; i < 6; i++)
-        {
-            double speed = (input[i] - last_input[i]) / dt;
-            double timescale = 1. / *(s.responsiveness[i]);
-            double alpha = dt / (dt + timescale);
-            speeds[i] += alpha * (speed - speeds[i]); // EWA
-            filtered_output[i] += alpha * min(1.0, abs(speeds[i]) / *(s.drift_speeds[i])) * (input[i] - filtered_output[i]);
-        }
-      }
-
-    std::copy(input, input + 6, last_input);
-    std::copy(filtered_output, filtered_output + 6, output);
+        const tVector pos_speed = (position - last_pos_in) / dt;
+        const double pos_tau = 1. / *s.pos_responsiveness;
+        double alpha = dt / (dt + pos_tau);
+        last_pos_speed += (pos_speed - last_pos_speed) * alpha;
+        alpha *= min(1.0, VectorLength(last_pos_speed) / *s.pos_drift_speed);
+        last_pos_out += (position - last_pos_out) * alpha;
+
+        const tQuat rot_delta = QuatDivide(rotation, last_rot_in);
+        const double ms_per_s = 1000.0;             // angular speed quaternions need to be small to work so use °/ms
+        const tQuat rot_speed = Slerp(tQuat(), rot_delta, 1.0 / dt / ms_per_s);
+        const double rot_tau = 1. / *s.rot_responsiveness;
+        alpha = dt / (dt + rot_tau);
+        last_rot_speed = Slerp(last_rot_speed, rot_speed, alpha);
+        const double angular_speed = AngleBetween(tQuat(), last_rot_speed) * ms_per_s;
+        alpha *= min(1.0, angular_speed / *s.rot_drift_speed);
+        last_rot_out = Slerp(last_rot_out, rotation, alpha);
+    }
+
+    last_pos_in = position;
+    last_rot_in = rotation;
+    std::copy(last_pos_out.v, last_pos_out.v + 3, output + TX);
+    QuatToYPR(last_rot_out, &output[Yaw]);
 }
 
 OPENTRACK_DECLARE_FILTER(filter_nm, dialog_nm, nmDll)
diff --git a/filter-nm/ftnoir_filter_nm.h b/filter-nm/ftnoir_filter_nm.h
index d2eae43d..7bf012a6 100644
--- a/filter-nm/ftnoir_filter_nm.h
+++ b/filter-nm/ftnoir_filter_nm.h
@@ -10,29 +10,24 @@
 
 #include "api/plugin-api.hpp"
 #include "compat/timer.hpp"
+#include "compat/hamilton-tools.h"
 #include "options/options.hpp"
 
 using namespace options;
 
 struct settings_nm : opts
 {
-    value<slider_value> responsiveness[6];
-    value<slider_value> drift_speeds[6];
+    value<slider_value> pos_responsiveness;
+    value<slider_value> rot_responsiveness;
+    value<slider_value> pos_drift_speed;
+    value<slider_value> rot_drift_speed;
 
     settings_nm() :
         opts("nm-filter"),
-          responsiveness{ value<slider_value>(b, "x-responsiveness",        { 10.0, .0, 20.0 }),
-                          value<slider_value>(b, "y-responsiveness",        { 10.0, .0, 20.0 }),
-                          value<slider_value>(b, "z-responsiveness",        { 10.0, .0, 20.0 }),
-                          value<slider_value>(b, "yaw-responsiveness",      { 10.0, .0, 20.0 }),
-                          value<slider_value>(b, "pitch-responsiveness",    { 10.0, .0, 20.0 }),
-                          value<slider_value>(b, "roll-responsiveness",     { 10.0, .0, 20.0 }) },
-          drift_speeds{ value<slider_value>(b, "x-drift-speed",     { 50.0, 1.0, 200.0 }),
-                        value<slider_value>(b, "y-drift-speed",     { 50.0, 1.0, 200.0 }),
-                        value<slider_value>(b, "z-drift-speed",     { 50.0, 1.0, 200.0 }),
-                        value<slider_value>(b, "yaw-drift-speed",   { 100.0, 1.0, 400.0 }),
-                        value<slider_value>(b, "pitch-drift-speed", { 100.0, 1.0, 400.0 }),
-                        value<slider_value>(b, "roll-drift-speed",  { 100.0, 1.0, 400.0 }) }
+        pos_responsiveness(value<slider_value>(b, "pos-responsiveness", { 15.0, .0, 20.0 })),
+        rot_responsiveness(value<slider_value>(b, "rot-responsiveness", { 18.0, .0, 20.0 })),
+        pos_drift_speed(value<slider_value>(b, "pos-drift-speed", { 30.0, 1.0, 200.0 })),
+        rot_drift_speed(value<slider_value>(b, "rot-drift-speed", { 45.0, 1.0, 400.0 }))
     {
     }
 };
@@ -45,9 +40,12 @@ struct filter_nm : IFilter
     module_status initialize() override { return status_ok(); }
 
 private:
-    double last_input[6]{};
-    double speeds[6]{};
-    double filtered_output[6]{};
+    tVector last_pos_in;
+    tQuat last_rot_in;
+    tVector last_pos_out;
+    tQuat last_rot_out;
+    tVector last_pos_speed;
+    tQuat last_rot_speed;
     Timer t;
     settings_nm s;
     bool first_run = true;
diff --git a/filter-nm/ftnoir_filter_nm_dialog.cpp b/filter-nm/ftnoir_filter_nm_dialog.cpp
index ccf894db..f3626cae 100644
--- a/filter-nm/ftnoir_filter_nm_dialog.cpp
+++ b/filter-nm/ftnoir_filter_nm_dialog.cpp
@@ -12,52 +12,20 @@ dialog_nm::dialog_nm()
 {
     ui.setupUi(this);
 
-    tie_setting(s.responsiveness[0], ui.x_responsiveness_slider);
-    tie_setting(s.responsiveness[0], ui.x_responsiveness, [](double x)
+    tie_setting(s.pos_responsiveness, ui.pos_responsiveness_slider);
+    tie_setting(s.pos_responsiveness, ui.pos_responsiveness, [](double x)
         { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
 
-    tie_setting(s.responsiveness[1], ui.y_responsiveness_slider);
-    tie_setting(s.responsiveness[1], ui.y_responsiveness, [](double x)
+    tie_setting(s.rot_responsiveness, ui.rot_responsiveness_slider);
+    tie_setting(s.rot_responsiveness, ui.rot_responsiveness, [](double x)
         { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
 
-    tie_setting(s.responsiveness[2], ui.z_responsiveness_slider);
-    tie_setting(s.responsiveness[2], ui.z_responsiveness, [](double x)
+    tie_setting(s.pos_drift_speed, ui.pos_drift_speed_slider);
+    tie_setting(s.pos_drift_speed, ui.pos_drift_speed, [](double x)
         { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
 
-    tie_setting(s.responsiveness[3], ui.yaw_responsiveness_slider);
-    tie_setting(s.responsiveness[3], ui.yaw_responsiveness, [](double x)
-        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
-
-    tie_setting(s.responsiveness[4], ui.pitch_responsiveness_slider);
-    tie_setting(s.responsiveness[4], ui.pitch_responsiveness, [](double x)
-        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
-
-    tie_setting(s.responsiveness[5], ui.roll_responsiveness_slider);
-    tie_setting(s.responsiveness[5], ui.roll_responsiveness, [](double x)
-        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
-
-    tie_setting(s.drift_speeds[0], ui.x_drift_speed_slider);
-    tie_setting(s.drift_speeds[0], ui.x_drift_speed, [](double x)
-        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
-
-    tie_setting(s.drift_speeds[1], ui.y_drift_speed_slider);
-    tie_setting(s.drift_speeds[1], ui.y_drift_speed, [](double x)
-        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
-
-    tie_setting(s.drift_speeds[2], ui.z_drift_speed_slider);
-    tie_setting(s.drift_speeds[2], ui.z_drift_speed, [](double x)
-        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
-
-    tie_setting(s.drift_speeds[3], ui.yaw_drift_speed_slider);
-    tie_setting(s.drift_speeds[3], ui.yaw_drift_speed, [](double x)
-        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
-
-    tie_setting(s.drift_speeds[4], ui.pitch_drift_speed_slider);
-    tie_setting(s.drift_speeds[4], ui.pitch_drift_speed, [](double x)
-        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
-
-    tie_setting(s.drift_speeds[5], ui.roll_drift_speed_slider);
-    tie_setting(s.drift_speeds[5], ui.roll_drift_speed, [](double x)
+    tie_setting(s.rot_drift_speed, ui.rot_drift_speed_slider);
+    tie_setting(s.rot_drift_speed, ui.rot_drift_speed, [](double x)
         { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
 }
 
diff --git a/filter-nm/ftnoir_nm_filtercontrols.ui b/filter-nm/ftnoir_nm_filtercontrols.ui
index 93f3cb91..ad307daf 100644
--- a/filter-nm/ftnoir_nm_filtercontrols.ui
+++ b/filter-nm/ftnoir_nm_filtercontrols.ui
@@ -20,15 +20,15 @@
       <string>Responsiveness</string>
      </property>
      <layout class="QGridLayout" name="gridLayout">
-      <item row="0" column="0">
-       <widget class="QLabel" name="label">
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_7">
         <property name="text">
-         <string>X</string>
+         <string>Rotation</string>
         </property>
        </widget>
       </item>
       <item row="0" column="1">
-       <widget class="QLabel" name="x_responsiveness">
+       <widget class="QLabel" name="pos_responsiveness">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
           <horstretch>0</horstretch>
@@ -49,31 +49,8 @@
         </property>
        </widget>
       </item>
-      <item row="0" column="2">
-       <widget class="QSlider" name="x_responsiveness_slider">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="maximum">
-         <number>40</number>
-        </property>
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_3">
-        <property name="text">
-         <string>Y</string>
-        </property>
-       </widget>
-      </item>
       <item row="1" column="1">
-       <widget class="QLabel" name="y_responsiveness">
+       <widget class="QLabel" name="rot_responsiveness">
         <property name="minimumSize">
          <size>
           <width>30</width>
@@ -89,7 +66,7 @@
        </widget>
       </item>
       <item row="1" column="2">
-       <widget class="QSlider" name="y_responsiveness_slider">
+       <widget class="QSlider" name="rot_responsiveness_slider">
         <property name="maximum">
          <number>40</number>
         </property>
@@ -98,97 +75,14 @@
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_5">
-        <property name="text">
-         <string>Z</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QLabel" name="z_responsiveness">
-        <property name="minimumSize">
-         <size>
-          <width>30</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="text">
-         <string>10.0</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="2">
-       <widget class="QSlider" name="z_responsiveness_slider">
-        <property name="maximum">
-         <number>40</number>
-        </property>
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="0">
-       <widget class="QLabel" name="label_7">
-        <property name="text">
-         <string>Yaw</string>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="1">
-       <widget class="QLabel" name="yaw_responsiveness">
-        <property name="minimumSize">
-         <size>
-          <width>30</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="text">
-         <string>10.0</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="2">
-       <widget class="QSlider" name="yaw_responsiveness_slider">
-        <property name="maximum">
-         <number>40</number>
-        </property>
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
-        </property>
-       </widget>
-      </item>
-      <item row="4" column="0">
-       <widget class="QLabel" name="label_9">
-        <property name="text">
-         <string>Pitch</string>
-        </property>
-       </widget>
-      </item>
-      <item row="4" column="1">
-       <widget class="QLabel" name="pitch_responsiveness">
-        <property name="minimumSize">
-         <size>
-          <width>30</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="text">
-         <string>10.0</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+      <item row="0" column="2">
+       <widget class="QSlider" name="pos_responsiveness_slider">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
         </property>
-       </widget>
-      </item>
-      <item row="4" column="2">
-       <widget class="QSlider" name="pitch_responsiveness_slider">
         <property name="maximum">
          <number>40</number>
         </property>
@@ -197,36 +91,10 @@
         </property>
        </widget>
       </item>
-      <item row="5" column="0">
-       <widget class="QLabel" name="label_11">
-        <property name="text">
-         <string>Roll</string>
-        </property>
-       </widget>
-      </item>
-      <item row="5" column="1">
-       <widget class="QLabel" name="roll_responsiveness">
-        <property name="minimumSize">
-         <size>
-          <width>30</width>
-          <height>0</height>
-         </size>
-        </property>
+      <item row="0" column="0">
+       <widget class="QLabel" name="label">
         <property name="text">
-         <string>10.0</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="5" column="2">
-       <widget class="QSlider" name="roll_responsiveness_slider">
-        <property name="maximum">
-         <number>40</number>
-        </property>
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
+         <string>Position</string>
         </property>
        </widget>
       </item>
@@ -261,85 +129,28 @@
       <string>Drift speeds</string>
      </property>
      <layout class="QGridLayout" name="gridLayout_3">
-      <item row="4" column="0">
-       <widget class="QLabel" name="label_6">
-        <property name="text">
-         <string>Z</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="3">
-       <widget class="QSlider" name="y_drift_speed_slider">
-        <property name="minimum">
-         <number>1</number>
-        </property>
-        <property name="maximum">
-         <number>200</number>
-        </property>
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
-        </property>
-       </widget>
-      </item>
-      <item row="11" column="0">
-       <widget class="QLabel" name="label_12">
-        <property name="text">
-         <string>Roll</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QLabel" name="y_drift_speed">
-        <property name="minimumSize">
-         <size>
-          <width>40</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="text">
-         <string>50</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="6" column="2">
-       <widget class="QLabel" name="label_24">
-        <property name="text">
-         <string>°/s</string>
-        </property>
-       </widget>
-      </item>
-      <item row="4" column="2">
-       <widget class="QLabel" name="label_23">
+      <item row="0" column="2">
+       <widget class="QLabel" name="label_14">
         <property name="text">
          <string>mm/s</string>
         </property>
        </widget>
       </item>
-      <item row="9" column="2">
-       <widget class="QLabel" name="label_25">
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_4">
         <property name="text">
-         <string>°/s</string>
+         <string>Position</string>
         </property>
        </widget>
       </item>
-      <item row="4" column="3">
-       <widget class="QSlider" name="z_drift_speed_slider">
-        <property name="minimum">
-         <number>1</number>
-        </property>
-        <property name="maximum">
-         <number>200</number>
-        </property>
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
+      <item row="0" column="1">
+       <widget class="QLabel" name="pos_drift_speed">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
         </property>
-       </widget>
-      </item>
-      <item row="4" column="1">
-       <widget class="QLabel" name="z_drift_speed">
         <property name="minimumSize">
          <size>
           <width>40</width>
@@ -354,54 +165,8 @@
         </property>
        </widget>
       </item>
-      <item row="11" column="1">
-       <widget class="QLabel" name="roll_drift_speed">
-        <property name="minimumSize">
-         <size>
-          <width>40</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="text">
-         <string>100</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_13">
-        <property name="text">
-         <string>Y</string>
-        </property>
-       </widget>
-      </item>
-      <item row="9" column="1">
-       <widget class="QLabel" name="pitch_drift_speed">
-        <property name="minimumSize">
-         <size>
-          <width>40</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="text">
-         <string>100</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="9" column="0">
-       <widget class="QLabel" name="label_10">
-        <property name="text">
-         <string>Pitch</string>
-        </property>
-       </widget>
-      </item>
-      <item row="9" column="3">
-       <widget class="QSlider" name="pitch_drift_speed_slider">
+      <item row="4" column="3">
+       <widget class="QSlider" name="rot_drift_speed_slider">
         <property name="minimum">
          <number>1</number>
         </property>
@@ -413,15 +178,15 @@
         </property>
        </widget>
       </item>
-      <item row="0" column="0">
-       <widget class="QLabel" name="label_4">
+      <item row="4" column="0">
+       <widget class="QLabel" name="label_8">
         <property name="text">
-         <string>X</string>
+         <string>Rotation</string>
         </property>
        </widget>
       </item>
-      <item row="6" column="1">
-       <widget class="QLabel" name="yaw_drift_speed">
+      <item row="4" column="1">
+       <widget class="QLabel" name="rot_drift_speed">
         <property name="minimumSize">
          <size>
           <width>40</width>
@@ -436,29 +201,15 @@
         </property>
        </widget>
       </item>
-      <item row="0" column="2">
-       <widget class="QLabel" name="label_14">
-        <property name="text">
-         <string>mm/s</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="2">
-       <widget class="QLabel" name="label_22">
-        <property name="text">
-         <string>mm/s</string>
-        </property>
-       </widget>
-      </item>
-      <item row="6" column="0">
-       <widget class="QLabel" name="label_8">
+      <item row="4" column="2">
+       <widget class="QLabel" name="label_24">
         <property name="text">
-         <string>Yaw</string>
+         <string>°/s</string>
         </property>
        </widget>
       </item>
       <item row="0" column="3">
-       <widget class="QSlider" name="x_drift_speed_slider">
+       <widget class="QSlider" name="pos_drift_speed_slider">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
           <horstretch>0</horstretch>
@@ -476,61 +227,6 @@
         </property>
        </widget>
       </item>
-      <item row="11" column="2">
-       <widget class="QLabel" name="label_26">
-        <property name="text">
-         <string>°/s</string>
-        </property>
-       </widget>
-      </item>
-      <item row="6" column="3">
-       <widget class="QSlider" name="yaw_drift_speed_slider">
-        <property name="minimum">
-         <number>1</number>
-        </property>
-        <property name="maximum">
-         <number>400</number>
-        </property>
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
-        </property>
-       </widget>
-      </item>
-      <item row="11" column="3">
-       <widget class="QSlider" name="roll_drift_speed_slider">
-        <property name="minimum">
-         <number>1</number>
-        </property>
-        <property name="maximum">
-         <number>400</number>
-        </property>
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="QLabel" name="x_drift_speed">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="minimumSize">
-         <size>
-          <width>40</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="text">
-         <string>50</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-        </property>
-       </widget>
-      </item>
      </layout>
     </widget>
    </item>
@@ -547,7 +243,7 @@
    <item row="4" column="0">
     <widget class="QLabel" name="label_15">
      <property name="text">
-      <string>Instructions: Set all sliders to minimum. Then on an axis by axis basis: First, increase responsiveness until the filter only just cancels jerkiness for faster head movements. Second, increase drift speed until the filter only just cancels drift movement when your head is still.</string>
+      <string>Instructions: Set all sliders to minimum. Then for each of rotation and position: First, increase responsiveness until the filter only just cancels jerkiness for faster head movements. Second, increase drift speed until the filter only just cancels drift movement when your head is still.</string>
      </property>
      <property name="alignment">
       <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
@@ -573,18 +269,10 @@
   </layout>
  </widget>
  <tabstops>
-  <tabstop>x_responsiveness_slider</tabstop>
-  <tabstop>y_responsiveness_slider</tabstop>
-  <tabstop>z_responsiveness_slider</tabstop>
-  <tabstop>yaw_responsiveness_slider</tabstop>
-  <tabstop>pitch_responsiveness_slider</tabstop>
-  <tabstop>roll_responsiveness_slider</tabstop>
-  <tabstop>x_drift_speed_slider</tabstop>
-  <tabstop>y_drift_speed_slider</tabstop>
-  <tabstop>z_drift_speed_slider</tabstop>
-  <tabstop>yaw_drift_speed_slider</tabstop>
-  <tabstop>pitch_drift_speed_slider</tabstop>
-  <tabstop>roll_drift_speed_slider</tabstop>
+  <tabstop>pos_responsiveness_slider</tabstop>
+  <tabstop>rot_responsiveness_slider</tabstop>
+  <tabstop>pos_drift_speed_slider</tabstop>
+  <tabstop>rot_drift_speed_slider</tabstop>
  </tabstops>
  <resources/>
  <connections>
diff --git a/filter-nm/lang/nl_NL.ts b/filter-nm/lang/nl_NL.ts
index d68712e9..540e2d51 100644
--- a/filter-nm/lang/nl_NL.ts
+++ b/filter-nm/lang/nl_NL.ts
@@ -8,30 +8,6 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>X</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Y</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Z</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Yaw</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pitch</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Roll</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>°/s</source>
         <translation type="unfinished"></translation>
     </message>
@@ -60,11 +36,19 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Instructions: Set all sliders to minimum. Then on an axis by axis basis: First, increase responsiveness until the filter only just cancels jerkiness for faster head movements. Second, increase drift speed until the filter only just cancels drift movement when your head is still.</source>
+        <source>Natural movement filter by Tom Brazier: Cancels higher frequency noise and the natural tendency for our heads to drift even when we think we are sitting still.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Natural movement filter by Tom Brazier: Cancels higher frequency noise and the natural tendency for our heads to drift even when we think we are sitting still.</source>
+        <source>Rotation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Position</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Instructions: Set all sliders to minimum. Then for each of rotation and position: First, increase responsiveness until the filter only just cancels jerkiness for faster head movements. Second, increase drift speed until the filter only just cancels drift movement when your head is still.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/filter-nm/lang/ru_RU.ts b/filter-nm/lang/ru_RU.ts
index 9ea3d158..31e5d5cc 100644
--- a/filter-nm/lang/ru_RU.ts
+++ b/filter-nm/lang/ru_RU.ts
@@ -8,30 +8,6 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>X</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Y</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Z</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Yaw</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pitch</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Roll</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>°/s</source>
         <translation type="unfinished"></translation>
     </message>
@@ -60,11 +36,19 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Instructions: Set all sliders to minimum. Then on an axis by axis basis: First, increase responsiveness until the filter only just cancels jerkiness for faster head movements. Second, increase drift speed until the filter only just cancels drift movement when your head is still.</source>
+        <source>Natural movement filter by Tom Brazier: Cancels higher frequency noise and the natural tendency for our heads to drift even when we think we are sitting still.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Natural movement filter by Tom Brazier: Cancels higher frequency noise and the natural tendency for our heads to drift even when we think we are sitting still.</source>
+        <source>Rotation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Position</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Instructions: Set all sliders to minimum. Then for each of rotation and position: First, increase responsiveness until the filter only just cancels jerkiness for faster head movements. Second, increase drift speed until the filter only just cancels drift movement when your head is still.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/filter-nm/lang/stub.ts b/filter-nm/lang/stub.ts
index 61c1f5bc..3b960804 100644
--- a/filter-nm/lang/stub.ts
+++ b/filter-nm/lang/stub.ts
@@ -8,30 +8,6 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>X</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Y</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Z</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Yaw</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pitch</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Roll</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>°/s</source>
         <translation type="unfinished"></translation>
     </message>
@@ -60,11 +36,19 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Instructions: Set all sliders to minimum. Then on an axis by axis basis: First, increase responsiveness until the filter only just cancels jerkiness for faster head movements. Second, increase drift speed until the filter only just cancels drift movement when your head is still.</source>
+        <source>Natural movement filter by Tom Brazier: Cancels higher frequency noise and the natural tendency for our heads to drift even when we think we are sitting still.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Natural movement filter by Tom Brazier: Cancels higher frequency noise and the natural tendency for our heads to drift even when we think we are sitting still.</source>
+        <source>Rotation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Position</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Instructions: Set all sliders to minimum. Then for each of rotation and position: First, increase responsiveness until the filter only just cancels jerkiness for faster head movements. Second, increase drift speed until the filter only just cancels drift movement when your head is still.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/filter-nm/lang/zh_CN.ts b/filter-nm/lang/zh_CN.ts
index d6490d99..92521e0f 100644
--- a/filter-nm/lang/zh_CN.ts
+++ b/filter-nm/lang/zh_CN.ts
@@ -8,30 +8,6 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>X</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Y</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Z</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Yaw</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pitch</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Roll</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>°/s</source>
         <translation type="unfinished"></translation>
     </message>
@@ -60,11 +36,19 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Instructions: Set all sliders to minimum. Then on an axis by axis basis: First, increase responsiveness until the filter only just cancels jerkiness for faster head movements. Second, increase drift speed until the filter only just cancels drift movement when your head is still.</source>
+        <source>Natural movement filter by Tom Brazier: Cancels higher frequency noise and the natural tendency for our heads to drift even when we think we are sitting still.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Natural movement filter by Tom Brazier: Cancels higher frequency noise and the natural tendency for our heads to drift even when we think we are sitting still.</source>
+        <source>Rotation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Position</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Instructions: Set all sliders to minimum. Then for each of rotation and position: First, increase responsiveness until the filter only just cancels jerkiness for faster head movements. Second, increase drift speed until the filter only just cancels drift movement when your head is still.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>