improved motion control

2026-06-19 16:32:34 +08:00
parent f7efa48ae8
commit d57334265b
4 changed files with 40 additions and 26 deletions
@@ -1063,7 +1063,7 @@ double rc_expo(double x, double expo) {
    self->_gyroEnabledFlag = self->_gyroEnabledFlag && self->_controllerGyroSwitchEnabled;
    if([self useMotionHandler]){
        if(self->_gyroEnabledFlag) [self->motionHandler startGyroByControllerButton];
-        else [self->motionHandler stopGyroUpdateWithInterruptNoneGyroInput:false resetLeftStick:true];
+        else [self->motionHandler stopMotionUpdateWithInterruptNoneGyroInput:false];
    }
    else self->_gyroEnabledFlag = self->_gyroEnabledFlag || !self->_controllerGyroSwitchEnabled;
 }
@@ -1789,7 +1789,7 @@ double rc_expo(double x, double expo) {

    if(oscProfile.controllerGyroSwitchMode == ControllerGyroSwitchDisabled && ![self useMotionHandler]) _gyroEnabledFlag = true;

-    if(![self useMotionHandler]) [self->motionHandler stopGyroUpdateWithInterruptNoneGyroInput:false resetLeftStick:true];
+    if(![self useMotionHandler]) [self->motionHandler stopMotionUpdateWithInterruptNoneGyroInput:false];
 }

 - (void)resetGyroInputForController:(VoidController* )voidController{
@@ -177,11 +177,9 @@ import CoreMotion
            
            if useBuiltinGyro {
                if motionManager.isGyroAvailable {
-                    motionManager.startGyroUpdates(to: .main) { [weak self] gyroData, _ in
-                        guard let self = self, let data = gyroData else { return }
-                        self.handleGyroData(x: data.rotationRate.x,
-                                            y: data.rotationRate.y,
-                                            z: data.rotationRate.z)
+                    motionManager.startDeviceMotionUpdates(to: .main) { [weak self] motionData, _ in
+                        guard let self = self, let data = motionData else { return }
+                        self.handleMotionData(deviceMotion: data)
                    }
                }
            }
@@ -203,9 +201,7 @@ import CoreMotion
                    }
                    if motion.sensorsActive {
                        motion.valueChangedHandler = { [weak self] motion in
-                            self?.handleGyroData(x: motion.rotationRate.x,
-                                                 y: motion.rotationRate.y,
-                                                 z: motion.rotationRate.z)
+                            self?.handleMotionData(gcMotion: motion)
                            }
                        }
                    }
@@ -230,16 +226,16 @@ import CoreMotion
    /// 停止更新
    private var interruptNoneGyroInput:Bool = false

-    @objc public func stopGyroUpdate(interruptNoneGyroInput:Bool=false, resetLeftStick:Bool=false) {
+    @objc public func stopMotionUpdate(interruptNoneGyroInput:Bool=false) {
        gyroControlStarted = false
        gyroIsWorking = false
-        if motionManager.isGyroActive{
-            motionManager.stopGyroUpdates()
+        if motionManager.isDeviceMotionActive{
+            motionManager.stopDeviceMotionUpdates()
        }
        if #available(iOS 14.0, *) {
            activeGCController?.motion?.sensorsActive = false
        }
-        self.clearGyroInput(interruptNonGyroInput:interruptNoneGyroInput, resetLeftStick:resetLeftStick)
+        self.clearGyroInput(interruptNonGyroInput:interruptNoneGyroInput)
    }
    
    @objc public func stopAccelUpdate() {
@@ -256,8 +252,27 @@ import CoreMotion
        // 在这里处理加速度数据，比如计算方向、存储或驱动逻辑
    }

-    private func handleGyroData(x: Double, y: Double, z: Double) {
+    private func handleMotionData(deviceMotion: CMDeviceMotion? = nil, gcMotion:GCMotion? = nil) {
+        var x:Double = 0
+        var y:Double = 0
+        var z:Double = 0
+        var attitudeRoll:Double = 0
+
+        if let deviceMotion = deviceMotion {
+            x = deviceMotion.rotationRate.x
+            y = deviceMotion.rotationRate.y
+            z = deviceMotion.rotationRate.z
+            attitudeRoll = deviceMotion.attitude.yaw
+        }
        
+        if let gcMotion = gcMotion {
+            x = gcMotion.rotationRate.x
+            y = gcMotion.rotationRate.y
+            z = gcMotion.rotationRate.z
+            attitudeRoll = gcMotion.attitude.z
+        }
+        
+            
        var yawSource:Double = 0
        var pitchSource:Double = 0
        var rollSource:Double = 0
@@ -367,7 +382,8 @@ import CoreMotion
            }
            if rollToLeftStick {
                roll = gyroInputToStickInput(input:rollSource*sensitvityRoll*widgetRollFactor*0.2)
-                rollIntegral = rollIntegral + roll
+                                
+                rollIntegral = useBuiltinGyro ? -stickMaxOffset*(attitudeRoll/Double.pi)*3*sensitvityRoll*widgetRollFactor :                 rollIntegral + roll
                
                let mixedLeftStickOffsetX = self.clampStickInput(input: rollIntegral+leftStickTouchInputX+leftStickPhysicalInputX)
                let mixedLeftStickOffsetY = self.clampStickInput(input: leftStickTouchInputY+leftStickPhysicalInputY)
@@ -379,17 +395,15 @@ import CoreMotion
        }
 }
    
-    private func clearGyroInput(interruptNonGyroInput:Bool, resetLeftStick:Bool=false){
+    private func clearGyroInput(interruptNonGyroInput:Bool){
        // guard let onScreenControls = onScreenControls else { return }

        if yawPitchToRightStick{
            onScreenControls?.sendRightStickTouchPadEvent(rightStickPhysicalInputX+rightStickTouchInputX-yawBias, rightStickPhysicalInputY+rightStickTouchInputY-pitchBias)
        }
        if rollToLeftStick{
-            if resetLeftStick {
-                rollIntegral = 0
-                onScreenControls?.sendLeftStickTouchPadEvent(leftStickPhysicalInputX+leftStickTouchInputX-rollBias,leftStickPhysicalInputY+leftStickTouchInputY)
-            }
+            rollIntegral = 0
+            onScreenControls?.sendLeftStickTouchPadEvent(leftStickPhysicalInputX+leftStickTouchInputX-rollBias,leftStickPhysicalInputY+leftStickTouchInputY)
        }
        if(interruptNonGyroInput){
            onScreenControls?.clearLeftStickTouchPadFlag()
@@ -441,7 +455,7 @@ import CoreMotion
        // 5秒后计算平均值
        DispatchQueue.main.asyncAfter(deadline: .now() + duration) { [weak self] in
            guard let self = self else { return }
-            self.motionManager.stopGyroUpdates()
+            self.motionManager.stopDeviceMotionUpdates()
            if sampleCount > 0 {
                if useBuiltinGyro {
                    gyroBiasX = sumX / Double(sampleCount)
@@ -2810,7 +2810,7 @@ import ObjectiveC.runtime
            self.motionHandler?.startGyroByOnScreenButton(self, yawFactor: yawFactor, pitchFactor: pitchFactor, rollFactor: rollFactor)
            if !OnScreenWidgetView.gamepadArrivalReported {OnScreenWidgetView.gamepadArrivalReported = oscProfile.mapGyroTo == .mapGyroToControllerStick}
        case "GYROPAUSE":
-            self.motionHandler?.stopGyroUpdate(interruptNoneGyroInput:false)
+            self.motionHandler?.stopMotionUpdate(interruptNoneGyroInput:false)
            if !OnScreenWidgetView.gamepadArrivalReported {OnScreenWidgetView.gamepadArrivalReported = oscProfile.mapGyroTo == .mapGyroToControllerStick}
            break
        case "ACCEL":
@@ -2833,7 +2833,7 @@ import ObjectiveC.runtime
                        widget.tapToToggleFlag = !widget.tapToToggleFlag
                    }
                }
-                self.motionHandler?.stopGyroUpdate(interruptNoneGyroInput: false, resetLeftStick: true)
+                self.motionHandler?.stopMotionUpdate(interruptNoneGyroInput: false)
                self.motionHandler?.gyroStarter = nil
            }
            else {
@@ -4118,7 +4118,7 @@ import ObjectiveC.runtime
            label.alpha = 1
            autoDockRestoreOriginalAlpha()
            if self.motionControlButtonString == "GYRO" {
-                if OnScreenWidgetView.gamepadArrivalReported {self.motionHandler?.stopGyroUpdate(interruptNoneGyroInput: true)}
+                if OnScreenWidgetView.gamepadArrivalReported {self.motionHandler?.stopMotionUpdate(interruptNoneGyroInput: true)}
                self.motionHandler?.gyroStarter = nil
            }
            if self.motionControlButtonString == "ACCEL" {}
@@ -2053,7 +2053,7 @@ static NSString* VLTerminationHintForErrorCode(int errorCode) {
 }

 - (void)stopGyroUpdateWithInterruptNoneGyroInput:(BOOL)interruption{
-    [_motionHandler stopGyroUpdateWithInterruptNoneGyroInput:interruption resetLeftStick:false];
+    [_motionHandler stopMotionUpdateWithInterruptNoneGyroInput:interruption];
 }

 - (void)stopAccelUpdate{