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Smoother (autoturn) smooth turn: estimate frame rate when beginning turn (#498)

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* Smoother (autoturn) smooth turn: estimate frame rate when beginning turn

* remove log messages and fix formatting
This commit is contained in:
Chelsea Jaggi
2020-07-27 18:13:29 -07:00
committed by GitHub
parent 18895ee286
commit c8f519ec0b
2 changed files with 79 additions and 7 deletions
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src/tabcontrollers/RotationTabController.cpp
+49 -6
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@@ -196,14 +196,11 @@ void RotationTabController::doAutoTurn(
&& m_autoTurnLinearSmoothTurnRemaining != 0 )
{
// TODO: implement angular acceleration max?
auto deltaMillis
= std::chrono::duration_cast<std::chrono::milliseconds>(
currentTime - m_autoTurnLastUpdate )
.count();
double deltaSeconds
= FrameRates::toDoubleSeconds( m_estimatedFrameRate );
auto miniDeltaAngle = static_cast<int>(
std::abs(
( deltaMillis * RotationTabController::autoTurnSpeed() )
/ 1000 )
( deltaSeconds * RotationTabController::autoTurnSpeed() ) )
* ( m_autoTurnLinearSmoothTurnRemaining < 0 ? -1 : 1 ) );
if ( std::abs( m_autoTurnLinearSmoothTurnRemaining )
< std::abs( miniDeltaAngle ) )
@@ -366,6 +363,52 @@ void RotationTabController::doAutoTurn(
} while ( false );
m_autoTurnWallActive[i] = true;
auto delta = currentTime - m_autoTurnLastUpdate;
if ( delta
< ( FrameRates::RATE_144HZ + FrameRates::RATE_120HZ ) / 2 )
{
m_estimatedFrameRate = FrameRates::RATE_144HZ;
}
else if ( ( delta >= ( FrameRates::RATE_144HZ
+ FrameRates::RATE_120HZ )
/ 2 )
&& ( delta < ( FrameRates::RATE_120HZ
+ FrameRates::RATE_90HZ )
/ 2 ) )
{
m_estimatedFrameRate = FrameRates::RATE_120HZ;
}
else if ( ( delta >= ( FrameRates::RATE_120HZ
+ FrameRates::RATE_90HZ )
/ 2 )
&& ( delta < ( FrameRates::RATE_90HZ
+ FrameRates::RATE_72HZ )
/ 2 ) )
{
m_estimatedFrameRate = FrameRates::RATE_90HZ;
}
else if ( ( delta
>= ( FrameRates::RATE_90HZ + FrameRates::RATE_72HZ )
/ 2 )
&& ( delta < ( FrameRates::RATE_72HZ
+ FrameRates::RATE_60HZ )
/ 2 ) )
{
m_estimatedFrameRate = FrameRates::RATE_72HZ;
}
else if ( ( delta
>= ( FrameRates::RATE_72HZ + FrameRates::RATE_60HZ )
/ 2 )
&& ( delta < ( FrameRates::RATE_60HZ
+ FrameRates::RATE_45HZ )
/ 2 ) )
{
m_estimatedFrameRate = FrameRates::RATE_60HZ;
}
else
{
m_estimatedFrameRate = FrameRates::RATE_45HZ;
}
}
else if ( ( chaperoneQuad.distance
> ( RotationTabController::autoTurnActivationDistance()