accela: reintroduce deadzone

Issue: #149

See https://imgur.com/a/BZO7N

4 files changed, 103 insertions, 34 deletions

diff --git a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
index 6895cb8d..74c28a40 100644
--- a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
+++ b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
@@ -10,7 +10,7 @@
     <x>0</x>
     <y>0</y>
     <width>501</width>
-    <height>302</height>
+    <height>358</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -30,10 +30,23 @@
       <enum>QFrame::Raised</enum>
      </property>
      <layout class="QGridLayout" name="gridLayout_3">
+      <item row="3" column="0">
+       <widget class="QLabel" name="label">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>Translation sensitivity</string>
+        </property>
+       </widget>
+      </item>
       <item row="3" column="3">
        <widget class="QSlider" name="translation_slider">
         <property name="maximum">
-         <number>99</number>
+         <number>100</number>
         </property>
         <property name="pageStep">
          <number>5</number>
@@ -52,7 +65,7 @@
       <item row="1" column="3">
        <widget class="QSlider" name="rotation_slider">
         <property name="maximum">
-         <number>99</number>
+         <number>100</number>
         </property>
         <property name="pageStep">
          <number>5</number>
@@ -68,19 +81,6 @@
         </property>
        </widget>
       </item>
-      <item row="3" column="0">
-       <widget class="QLabel" name="label">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="text">
-         <string>Translation sensitivity</string>
-        </property>
-       </widget>
-      </item>
       <item row="1" column="0">
        <widget class="QLabel" name="lblSensYaw_6">
         <property name="sizePolicy">
@@ -98,11 +98,18 @@ background:none;</string>
         </property>
        </widget>
       </item>
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_2">
+        <property name="text">
+         <string>Smoothing</string>
+        </property>
+       </widget>
+      </item>
       <item row="0" column="1">
        <widget class="QLabel" name="ewma_label">
         <property name="minimumSize">
          <size>
-          <width>32</width>
+          <width>48</width>
           <height>0</height>
          </size>
         </property>
@@ -118,20 +125,6 @@ background:none;</string>
         </property>
        </widget>
       </item>
-      <item row="0" column="0">
-       <widget class="QLabel" name="label_2">
-        <property name="text">
-         <string>Smoothing</string>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="1">
-       <widget class="QLabel" name="trans_gain">
-        <property name="text">
-         <string>0mm</string>
-        </property>
-       </widget>
-      </item>
       <item row="0" column="3">
        <widget class="QSlider" name="ewma_slider">
         <property name="maximum">
@@ -154,6 +147,61 @@ background:none;</string>
         </property>
        </widget>
       </item>
+      <item row="3" column="1">
+       <widget class="QLabel" name="trans_gain">
+        <property name="text">
+         <string>0mm</string>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="0">
+       <widget class="QLabel" name="label_6">
+        <property name="text">
+         <string>Translation deadzone</string>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="0">
+       <widget class="QLabel" name="label_4">
+        <property name="text">
+         <string>Rotation deadzone</string>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="3">
+       <widget class="QSlider" name="rot_dz_slider">
+        <property name="maximum">
+         <number>100</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="1">
+       <widget class="QLabel" name="rot_dz">
+        <property name="text">
+         <string>0°</string>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="3">
+       <widget class="QSlider" name="trans_dz_slider">
+        <property name="maximum">
+         <number>100</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="1">
+       <widget class="QLabel" name="trans_dz">
+        <property name="text">
+         <string>0mm</string>
+        </property>
+       </widget>
+      </item>
      </layout>
     </widget>
    </item>
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
index dc754b69..62ae9c33 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
@@ -48,6 +48,8 @@ void FTNoIR_Filter::filter(const double* input, double *output)
 
     const double RC = 2 * s.ewma / 1000.; // seconds
     const double alpha = dt/(dt+RC);
+    const double rot_dz = s.rot_deadzone * 3. / 1000.;
+    const double trans_dz = s.trans_deadzone * 1. / 100.;
     
     for (int i = 0; i < 6; i++)
     {
@@ -56,7 +58,8 @@ void FTNoIR_Filter::filter(const double* input, double *output)
         const double in = smoothed_input[i];
         
         const double vec = in - last_output[i];
-        const double vec_ = fabs(vec);
+        const double dz = i >= 3 ? rot_dz : trans_dz;
+        const double vec_ = max(0., fabs(vec) - dz);
         const double t = i >= 3 ? rot_t : trans_t;
         const double val = f(vec_, t);
         const double result = last_output[i] + (vec < 0 ? -1 : 1) * dt * val;
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.h b/ftnoir_filter_accela/ftnoir_filter_accela.h
index 98e5cf1f..6efe05f7 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.h
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.h
@@ -11,12 +11,14 @@ using namespace options;
 
 struct settings {
     pbundle b;
-    value<int> rot_threshold, trans_threshold, ewma;
+    value<int> rot_threshold, trans_threshold, ewma, rot_deadzone, trans_deadzone;
     settings() :
         b(bundle("Accela")),
         rot_threshold(b, "rotation-threshold", 30),
         trans_threshold(b, "translation-threshold", 50),
-        ewma(b, "ewma", 2)
+        ewma(b, "ewma", 2),
+        rot_deadzone(b, "rotation-deadzone", 0),
+        trans_deadzone(b, "translation-deadzone", 0)
     {}
 };
 
@@ -58,6 +60,8 @@ private slots:
     void update_ewma_display(int value);
     void update_rot_display(int value);
     void update_trans_display(int value);
+    void update_rot_dz_display(int value);
+    void update_trans_dz_display(int value);
 };
 
 class FTNoIR_FilterDll : public Metadata
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
index 00dc73bf..8e4035be 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
@@ -15,10 +15,14 @@ FilterControls::FilterControls() :
     connect(ui.rotation_slider, SIGNAL(valueChanged(int)), this, SLOT(update_rot_display(int)));
     connect(ui.translation_slider, SIGNAL(valueChanged(int)), this, SLOT(update_trans_display(int)));
     connect(ui.ewma_slider, SIGNAL(valueChanged(int)), this, SLOT(update_ewma_display(int)));
+    connect(ui.rot_dz_slider, SIGNAL(valueChanged(int)), this, SLOT(update_rot_dz_display(int)));
+    connect(ui.trans_dz_slider, SIGNAL(valueChanged(int)), this, SLOT(update_trans_dz_display(int)));
 
     tie_setting(s.rot_threshold, ui.rotation_slider);
     tie_setting(s.trans_threshold, ui.translation_slider);
     tie_setting(s.ewma, ui.ewma_slider);
+    tie_setting(s.rot_deadzone, ui.rot_dz_slider);
+    tie_setting(s.trans_deadzone, ui.trans_dz_slider);
 }
 
 void FilterControls::register_filter(IFilter* filter)
@@ -65,6 +69,16 @@ void FilterControls::update_ewma_display(int value)
     ui.ewma_label->setText(QString::number(value * 2) + "ms");
 }
 
+void FilterControls::update_rot_dz_display(int value)
+{
+    ui.rot_dz->setText(QString::number(value * 3 / 1000.) + "°");
+}
+
+void FilterControls::update_trans_dz_display(int value)
+{
+    ui.trans_dz->setText(QString::number(value * 1 / 100.) + "mm");
+}
+
 extern "C" OPENTRACK_EXPORT IFilterDialog* GetDialog()
 {
     return new FilterControls;