HipsterSloth
Controllers bug out during fast motion
Whenever I do fast motions (e.g. I swing my arm across the room) the controller goes crazy before going to the final position. Is this a thing that just happens? Will it be corrected?
I think this is due to how the orientation filter handles the data from the accelerometer. The measurement from the accelerometer is a combination of gravity (down +1g) plus any acceleration the controller is undergoing. The orientation filter (a modified madgwick marg filter) assumed that the accelerometer measurement is most due to gravity (which is generally true) and thus can be used to define a "down" direction. When the controller is swung wildly that assumption is no longer true and the filter gets an incorrect direction for "down" which leads to weird controller orientation. It corrects itself after the controller comes to rest.
I have a few ideas about how to correct this. The main one is to switch over to using a Kalman filter that can better filter spurious accelerations . Maybe even incorporate optical information. But I have no ETA on when that work will happen. I'm currently focusing all my free time on psvr headset optical tracking. But i would like to address this at some point.
