filter/accela: kill rotation nonlinearity

4 files changed, 106 insertions, 231 deletions

diff --git a/filter-accela/accela-settings.hpp b/filter-accela/accela-settings.hpp
index 3c4487be..2dfc965c 100644
--- a/filter-accela/accela-settings.hpp
+++ b/filter-accela/accela-settings.hpp
@@ -50,14 +50,12 @@ struct settings_accela : opts
     value<slider_value> rot_sensitivity, pos_sensitivity;
     value<slider_value> rot_deadzone, pos_deadzone;
     value<slider_value> ewma;
-    value<slider_value> rot_nonlinearity;
     settings_accela() :
         opts("accela-sliders"),
         rot_sensitivity(b, "rotation-sensitivity", slider_value(1.5, .05, 2.5)),
         pos_sensitivity(b, "translation-sensitivity", slider_value(1., .05, 1.5)),
         rot_deadzone(b, "rotation-deadzone", slider_value(.03, 0, .1)),
         pos_deadzone(b, "translation-deadzone", slider_value(.1, 0, 1)),
-        ewma(b, "ewma", slider_value(0, 0, 200)),
-        rot_nonlinearity(b, "rotation-nonlinearity", slider_value(1, 1, 1.25))
+        ewma(b, "ewma", slider_value(0, 0, 200))
     {}
 };
diff --git a/filter-accela/ftnoir_accela_filtercontrols.ui b/filter-accela/ftnoir_accela_filtercontrols.ui
index 913b775e..f390c329 100644
--- a/filter-accela/ftnoir_accela_filtercontrols.ui
+++ b/filter-accela/ftnoir_accela_filtercontrols.ui
@@ -10,7 +10,7 @@
     <x>0</x>
     <y>0</y>
     <width>550</width>
-    <height>431</height>
+    <height>345</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -36,67 +36,62 @@
    <property name="topMargin">
     <number>5</number>
    </property>
-   <item row="0" column="0">
-    <widget class="QGroupBox" name="groupBox66">
-     <property name="title">
-      <string>General</string>
+   <item row="3" column="0">
+    <widget class="QLabel" name="label_9">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="font">
+      <font>
+       <pointsize>7</pointsize>
+      </font>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::NoFrame</enum>
+     </property>
+     <property name="text">
+      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;right&quot;&gt;&lt;br/&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;Accela by &lt;/span&gt;&lt;a href=&quot;https://github.com/sthalik&quot;&gt;&lt;span style=&quot; font-size:10pt; text-decoration: underline; color:#0057ae;&quot;&gt;Stanisław Halik&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;&lt;br/&gt;Thanks to &lt;/span&gt;&lt;a href=&quot;https://github.com/dbaarda&quot;&gt;&lt;span style=&quot; font-size:10pt; text-decoration: underline; color:#0057ae;&quot;&gt;Donovan Baarda&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;p align=&quot;right&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;2012-2015&lt;/span&gt;&lt;/p&gt;&lt;p align=&quot;right&quot;&gt;&lt;br/&gt;&lt;span style=&quot; font-size:8pt;&quot;&gt;Visit &lt;/span&gt;&lt;a href=&quot;https://github.com/opentrack/opentrack/wiki/Accela-in-opentrack-2.3&quot;&gt;&lt;span style=&quot; font-size:8pt; text-decoration: underline; color:#0000ff;&quot;&gt;our wiki&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-size:8pt;&quot;&gt; for description of the settings.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+     </property>
+     <property name="textFormat">
+      <enum>Qt::RichText</enum>
+     </property>
+     <property name="scaledContents">
+      <bool>false</bool>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+     </property>
+     <property name="wordWrap">
+      <bool>true</bool>
+     </property>
+     <property name="margin">
+      <number>0</number>
+     </property>
+     <property name="indent">
+      <number>0</number>
+     </property>
+     <property name="openExternalLinks">
+      <bool>true</bool>
+     </property>
+     <property name="textInteractionFlags">
+      <set>Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="0">
+    <widget class="QDialogButtonBox" name="buttonBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="standardButtons">
+      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout">
-      <property name="topMargin">
-       <number>0</number>
-      </property>
-      <property name="bottomMargin">
-       <number>0</number>
-      </property>
-      <item>
-       <widget class="QLabel" name="label_2">
-        <property name="text">
-         <string>Smoothing</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QLabel" name="ewma_label">
-        <property name="minimumSize">
-         <size>
-          <width>50</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="text">
-         <string>0 ms</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QSlider" name="ewma_slider">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="minimum">
-         <number>0</number>
-        </property>
-        <property name="maximum">
-         <number>20</number>
-        </property>
-        <property name="pageStep">
-         <number>1</number>
-        </property>
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
-        </property>
-        <property name="tickPosition">
-         <enum>QSlider::TicksAbove</enum>
-        </property>
-        <property name="tickInterval">
-         <number>5</number>
-        </property>
-       </widget>
-      </item>
-     </layout>
     </widget>
    </item>
    <item row="2" column="0">
@@ -339,166 +334,69 @@
      </layout>
     </widget>
    </item>
-   <item row="3" column="0">
-    <widget class="QGroupBox" name="groupBox">
+   <item row="0" column="0">
+    <widget class="QGroupBox" name="groupBox66">
      <property name="title">
-      <string>Rotation nonlinearity</string>
+      <string>General</string>
      </property>
-     <layout class="QVBoxLayout" name="verticalLayout">
+     <layout class="QHBoxLayout" name="horizontalLayout">
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
       <item>
-       <widget class="QLabel" name="label_5">
+       <widget class="QLabel" name="label_2">
         <property name="text">
-         <string>Setting it higher will filter out rotation noise but may cause sudden jumps on very high settings.</string>
+         <string>Smoothing</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="ewma_label">
+        <property name="minimumSize">
+         <size>
+          <width>50</width>
+          <height>0</height>
+         </size>
         </property>
-        <property name="wordWrap">
-         <bool>true</bool>
+        <property name="text">
+         <string>0 ms</string>
         </property>
        </widget>
       </item>
       <item>
-       <widget class="QFrame" name="frame">
-        <property name="frameShape">
-         <enum>QFrame::NoFrame</enum>
-        </property>
-        <property name="frameShadow">
-         <enum>QFrame::Raised</enum>
-        </property>
-        <layout class="QHBoxLayout" name="horizontalLayout_2">
-         <property name="spacing">
-          <number>6</number>
-         </property>
-         <property name="leftMargin">
-          <number>0</number>
-         </property>
-         <property name="topMargin">
-          <number>0</number>
-         </property>
-         <property name="rightMargin">
-          <number>0</number>
-         </property>
-         <property name="bottomMargin">
-          <number>0</number>
-         </property>
-         <item>
-          <widget class="QLabel" name="label_3">
-           <property name="text">
-            <string>Value</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QLabel" name="rot_nl">
-           <property name="minimumSize">
-            <size>
-             <width>50</width>
-             <height>0</height>
-            </size>
-           </property>
-           <property name="font">
-            <font>
-             <pointsize>12</pointsize>
-            </font>
-           </property>
-           <property name="text">
-            <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;x&lt;span style=&quot; vertical-align:super;&quot;&gt;2&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QSlider" name="rot_nl_slider">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="minimum">
-            <number>0</number>
-           </property>
-           <property name="maximum">
-            <number>10</number>
-           </property>
-           <property name="pageStep">
-            <number>1</number>
-           </property>
-           <property name="value">
-            <number>1</number>
-           </property>
-           <property name="orientation">
-            <enum>Qt::Horizontal</enum>
-           </property>
-           <property name="tickPosition">
-            <enum>QSlider::TicksAbove</enum>
-           </property>
-           <property name="tickInterval">
-            <number>3</number>
-           </property>
-          </widget>
-         </item>
-        </layout>
+       <widget class="QSlider" name="ewma_slider">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimum">
+         <number>0</number>
+        </property>
+        <property name="maximum">
+         <number>20</number>
+        </property>
+        <property name="pageStep">
+         <number>1</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="tickPosition">
+         <enum>QSlider::TicksAbove</enum>
+        </property>
+        <property name="tickInterval">
+         <number>5</number>
+        </property>
        </widget>
       </item>
      </layout>
     </widget>
    </item>
-   <item row="4" column="0">
-    <widget class="QLabel" name="label_9">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="font">
-      <font>
-       <pointsize>7</pointsize>
-      </font>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::NoFrame</enum>
-     </property>
-     <property name="text">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;right&quot;&gt;&lt;br/&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;Accela by &lt;/span&gt;&lt;a href=&quot;https://github.com/sthalik&quot;&gt;&lt;span style=&quot; font-size:10pt; text-decoration: underline; color:#0057ae;&quot;&gt;Stanisław Halik&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;&lt;br/&gt;Thanks to &lt;/span&gt;&lt;a href=&quot;https://github.com/dbaarda&quot;&gt;&lt;span style=&quot; font-size:10pt; text-decoration: underline; color:#0057ae;&quot;&gt;Donovan Baarda&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;p align=&quot;right&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;2012-2015&lt;/span&gt;&lt;/p&gt;&lt;p align=&quot;right&quot;&gt;&lt;br/&gt;&lt;span style=&quot; font-size:8pt;&quot;&gt;Visit &lt;/span&gt;&lt;a href=&quot;https://github.com/opentrack/opentrack/wiki/Accela-in-opentrack-2.3&quot;&gt;&lt;span style=&quot; font-size:8pt; text-decoration: underline; color:#0000ff;&quot;&gt;our wiki&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-size:8pt;&quot;&gt; for description of the settings.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-     </property>
-     <property name="textFormat">
-      <enum>Qt::RichText</enum>
-     </property>
-     <property name="scaledContents">
-      <bool>false</bool>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-     </property>
-     <property name="wordWrap">
-      <bool>true</bool>
-     </property>
-     <property name="margin">
-      <number>0</number>
-     </property>
-     <property name="indent">
-      <number>0</number>
-     </property>
-     <property name="openExternalLinks">
-      <bool>true</bool>
-     </property>
-     <property name="textInteractionFlags">
-      <set>Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set>
-     </property>
-    </widget>
-   </item>
-   <item row="5" column="0">
-    <widget class="QDialogButtonBox" name="buttonBox">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="standardButtons">
-      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
-     </property>
-    </widget>
-   </item>
   </layout>
  </widget>
  <tabstops>
@@ -507,7 +405,6 @@
   <tabstop>rot_dz_slider</tabstop>
   <tabstop>translation_slider</tabstop>
   <tabstop>trans_dz_slider</tabstop>
-  <tabstop>rot_nl_slider</tabstop>
  </tabstops>
  <resources>
   <include location="../gui/opentrack-res.qrc"/>
diff --git a/filter-accela/ftnoir_filter_accela.cpp b/filter-accela/ftnoir_filter_accela.cpp
index 51b5d6e9..8a403211 100644
--- a/filter-accela/ftnoir_filter_accela.cpp
+++ b/filter-accela/ftnoir_filter_accela.cpp
@@ -101,7 +101,6 @@ void accela::filter(const double* input, double *output)
     const double alpha = dt/(dt+RC);
     const double rot_dz = s.rot_deadzone.to<double>();
     const double pos_dz = s.pos_deadzone.to<double>();
-    const double nl = s.rot_nonlinearity.to<double>();
 
     // rot
 
@@ -117,17 +116,6 @@ void accela::filter(const double* input, double *output)
         deltas[i] = d / rot_thres;
     }
 
-    if (nl > 1.)
-    {
-        for (unsigned k = 3; k < 6; k++)
-        {
-            static constexpr double nl_end = 7;
-
-            if (fabs(deltas[k]) <= nl_end)
-                deltas[k] = copysign(pow(fabs(deltas[k]/nl_end), nl) * nl_end, deltas[k]);
-        }
-    }
-
     do_deltas(&deltas[Yaw], &output[Yaw], alpha, smoothed_input[0], [this](double x) { return spline_rot.get_value_no_save(x); });
 
 #if defined DEBUG_ACCELA
diff --git a/filter-accela/ftnoir_filter_accela_dialog.cpp b/filter-accela/ftnoir_filter_accela_dialog.cpp
index c504188a..ab6634c4 100644
--- a/filter-accela/ftnoir_filter_accela_dialog.cpp
+++ b/filter-accela/ftnoir_filter_accela_dialog.cpp
@@ -25,20 +25,12 @@ dialog_accela::dialog_accela()
     tie_setting(s.ewma, ui.ewma_slider);
     tie_setting(s.rot_deadzone, ui.rot_dz_slider);
     tie_setting(s.pos_deadzone, ui.trans_dz_slider);
-    tie_setting(s.rot_nonlinearity, ui.rot_nl_slider);
 
     tie_setting(s.rot_sensitivity, ui.rot_gain, [](const slider_value& s) { return tr("%1°").arg(s, 0, 'g', 4); });
     tie_setting(s.pos_sensitivity, ui.trans_gain, [](const slider_value& s) { return tr("%1mm").arg(s, 0, 'g', 4); });
     tie_setting(s.ewma, ui.ewma_label, [](const slider_value& s) { return tr("%1ms").arg(s); });
     tie_setting(s.rot_deadzone, ui.rot_dz, [](const slider_value& s) { return tr("%1°").arg(s, 0, 'g', 4); });
     tie_setting(s.pos_deadzone, ui.trans_dz, [](const slider_value& s) { return tr("%1mm").arg(s); });
-    tie_setting(s.rot_nonlinearity, ui.rot_nl, [](const slider_value& s) {
-        return tr("<html><head/><body>"
-                  "<p>x<span style='vertical-align:super;'>"
-                  "%1"
-                  "</span></p>"
-                  "</body></html>").arg(s);
-    });
 
 //#define SPLINE_ROT_DEBUG
 //#define SPLINE_TRANS_DEBUG