diff options
| -rw-r--r-- | logic/pipeline.cpp | 13 |
1 files changed, 7 insertions, 6 deletions
diff --git a/logic/pipeline.cpp b/logic/pipeline.cpp index bc623d9c..5f17f2b1 100644 --- a/logic/pipeline.cpp +++ b/logic/pipeline.cpp @@ -83,7 +83,7 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, bool tcomp_in_zone_ = progn( if (state == reltrans_non_center) { - const bool looking_down = value(Pitch) < 15; + const bool looking_down = value(Pitch) < 20; return looking_down ? std::fabs(value(Yaw)) > 35 : std::fabs(value(Yaw)) > 65; } else @@ -123,10 +123,11 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, if (cur) { - static constexpr double RC_phases[] = { 2, 1, .5, .1, }; - static constexpr double RC_time_deltas[] = { 1, .25, 25., }; - const double dt = interp_timer.elapsed_seconds(); + + static constexpr float RC_phases[] = { 2, 1, .5, .1, .025 }; + static constexpr float RC_time_deltas[] = { 1, .25, .25, 2 }; + interp_timer.start(); if (RC_phase + 1 != std::size(RC_phases) && @@ -139,7 +140,7 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, const double RC = RC_phases[RC_phase]; const double alpha = dt/(dt+RC); - constexpr double eps = .05; + constexpr double eps = .01; interp_pos = interp_pos * (1-alpha) + rel * alpha; @@ -147,7 +148,7 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, rel = interp_pos; const double delta = std::fabs(tmp(0)) + std::fabs(tmp(1)) + std::fabs(tmp(2)); - //qDebug() << "reltrans-interp: delta" << delta; + //qDebug() << "reltrans-interp: delta" << delta << "phase" << RC_phase; if (delta < eps) { |