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Patch - clamp mouse integrator #135

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Merged
merged 4 commits into from
Apr 28, 2025
Merged

Patch - clamp mouse integrator #135

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cdded76
clamp mouse y
roccoagain Apr 26, 2025
cf1b9ea
clamp dr16_pos_y
roccoagain Apr 27, 2025
d1e1a81
oops, left a comment in
roccoagain Apr 27, 2025
44a135b
Merge branch 'main' into patch-clamp-mouse-integrator
roccoagain Apr 27, 2025
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8 changes: 7 additions & 1 deletion src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -195,6 +195,12 @@ int main() {
vtm_pos_x += ref->ref_data.kbm_interaction.mouse_speed_x * 0.05 * delta;
vtm_pos_y += ref->ref_data.kbm_interaction.mouse_speed_y * 0.05 * delta;

// clamp mouse y to the pitch limits from config
float pitch_min = config->set_reference_limits[4][0][0];
float pitch_max = config->set_reference_limits[4][0][1];
if (dr16_pos_y < pitch_min) { dr16_pos_y = pitch_min; }
if (dr16_pos_y > pitch_max) { dr16_pos_y = pitch_max; }

float chassis_vel_x = 0;
float chassis_vel_y = 0;
float chassis_pos_x = 0;
Expand All @@ -214,7 +220,7 @@ int main() {
float chassis_spin = dr16.get_wheel() * 25;
float pitch_target = 1.57
+ -dr16.get_r_stick_y() * 0.3
+ dr16_pos_y
+ dr16_pos_y - ((pitch_min + pitch_max) / 2)
+ vtm_pos_y;
float yaw_target = -dr16.get_r_stick_x() * 1.5
- dr16_pos_x
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