update

Assets/BowArrow/Scenes/Game.unity

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@@ -10678,7 +10877,7 @@ RectTransform:
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@@ -12175,8 +12468,10 @@ MonoBehaviour:
   textUI: {fileID: 1105832657}
   controlObj: {fileID: 1680053129}
   SetIdentity: {fileID: 1478558957}
-  CalibrationButton: {fileID: 1990278318}
+  MagCalibrationButton: {fileID: 1990278318}
+  GyrCalibrationButton: {fileID: 1293471641}
   MagScaleText: {fileID: 1105832657}
+  GyrScaleText: {fileID: 1509022409}
 --- !u!1 &1680621885
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@@ -12440,7 +12735,7 @@ GameObject:
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-  m_Name: DebugText (1)
+  m_Name: DebugText
   m_TagString: Untagged
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   m_NavMeshLayer: 0
@@ -12458,7 +12753,7 @@ RectTransform:
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   m_Children: []
   m_Father: {fileID: 1979114040}
-  m_RootOrder: 7
+  m_RootOrder: 4
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   m_AnchorMax: {x: 0, y: 1}
@@ -14648,10 +14943,12 @@ RectTransform:
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   - {fileID: 1105832656}
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@@ -14734,7 +15031,7 @@ RectTransform:
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Assets/BowArrow/Scripts/Bluetooth/BluetoothAim.cs

@@ -17,8 +17,10 @@ public class BluetoothAim : MonoBehaviour
     [SerializeField] Text textUI;
     [SerializeField] Transform controlObj = default;
     [SerializeField] Button SetIdentity = default;
-    [SerializeField] Button CalibrationButton = default;
+    [SerializeField] Button MagCalibrationButton = default;
+    [SerializeField] Button GyrCalibrationButton = default;
     [SerializeField] Text MagScaleText = default;
+    [SerializeField] Text GyrScaleText = default;
 
     AimHandler aimHandler = null;
 
@@ -26,7 +28,7 @@ public class BluetoothAim : MonoBehaviour
 
     void Start()
     {
-        aimHandler = new AimHandler(controlObj, SetIdentity, CalibrationButton, MagScaleText);
+        aimHandler = new AimHandler(controlObj, SetIdentity, MagCalibrationButton, GyrCalibrationButton, MagScaleText, GyrScaleText);
         BluetoothDispatcher.aim = aimHandler.OnDataReceived;
     }
 
@@ -164,8 +166,10 @@ class AimHandler
 {
     public Transform controlObj;
     Button SetIdentity = default;
-    Button CalibrationButton = default;
+    Button MagCalibrationButton = default;
+    Button GyrCalibrationButton = default;
     Text MagScaleText = default;
+    Text GyrScaleText = default;
 
     long TimeGap = default;
     Vector3 Acc = default;
@@ -183,14 +187,22 @@ class AimHandler
     }
 
     o0MagneticCalibrater MagCalibrater;
-    o0Vector3Filter MagFilter = new o0Vector3Filter();
+    o0GyrCalibrater GyrCalibrater;
     long msOld = 0;
-    public AimHandler(Transform controlObj, Button SetIdentity, Button CalibrationButton, Text MagScaleText)
-    {
+    public AimHandler(
+        Transform controlObj, 
+        Button SetIdentity, 
+        Button MagCalibrationButton, 
+        Button GyrCalibrationButton, 
+        Text MagScaleText,
+        Text GyrScaleText
+    ) {
         this.controlObj = controlObj;
         this.SetIdentity = SetIdentity;
-        this.CalibrationButton = CalibrationButton;
+        this.MagCalibrationButton = MagCalibrationButton;
+        this.GyrCalibrationButton = GyrCalibrationButton;
         this.MagScaleText = MagScaleText;
+        this.GyrScaleText = GyrScaleText;
         
         if (SetIdentity != null) 
         {
@@ -198,23 +210,23 @@ class AimHandler
         }
         
         MagCalibrater = new o0MagneticCalibrater();
-        string caliraterDataStr = PlayerPrefs.GetString("o0MagneticCalibrater");
-        if (caliraterDataStr.Length > 0)
+        string magDataStr = PlayerPrefs.GetString("o0MagneticCalibrater");
+        if (magDataStr.Length > 0)
         {
-            string[] dataStrs = caliraterDataStr.Split(',');
+            string[] dataStrs = magDataStr.Split(',');
             if (dataStrs.Length == 6)
             {
                 MagCalibrater._Center =  new Vector3(float.Parse(dataStrs[0]), float.Parse(dataStrs[1]), float.Parse(dataStrs[2]));
                 MagCalibrater._Radius =  new Vector3(float.Parse(dataStrs[3]), float.Parse(dataStrs[4]), float.Parse(dataStrs[5]));
             }
         }
-        if (CalibrationButton != null)
+        if (MagCalibrationButton != null)
         {
-            CalibrationButton.onClick.AddListener(delegate {
+            MagCalibrationButton.onClick.AddListener(delegate {
                 if (MagCalibrater.Calibration)
                 {
                     MagCalibrater.Calibration = false;
-                    CalibrationButton.GetComponentInChildren<Text>().text = "开始磁场校准";
+                    MagCalibrationButton.GetComponentInChildren<Text>().text = "开始地磁计校准";
                     float[] dataFloats = new float[6];
                     dataFloats[0] = MagCalibrater.Center.x;
                     dataFloats[1] = MagCalibrater.Center.y;
@@ -228,7 +240,39 @@ class AimHandler
                 else
                 {
                     MagCalibrater.Calibration = true;
-                    CalibrationButton.GetComponentInChildren<Text>().text = "停止磁场校准";
+                    MagCalibrationButton.GetComponentInChildren<Text>().text = "停止地磁计校准";
+                }
+            });
+        }
+
+        GyrCalibrater = new o0GyrCalibrater();
+        string gyrDataStr = PlayerPrefs.GetString("o0GyrCalibrater");
+        if (gyrDataStr.Length > 0)
+        {
+            string[] dataStrs = gyrDataStr.Split(',');
+            if (dataStrs.Length == 3)
+            {
+                GyrCalibrater._Average =  new Vector3(float.Parse(dataStrs[0]), float.Parse(dataStrs[1]), float.Parse(dataStrs[2]));
+            }
+        }
+        if (GyrCalibrationButton != null)
+        {
+            GyrCalibrationButton.onClick.AddListener(delegate {
+                if (GyrCalibrater.Calibration)
+                {
+                    GyrCalibrater.Calibration = false;
+                    GyrCalibrationButton.GetComponentInChildren<Text>().text = "开始陀螺仪校准";
+                    float[] dataFloats = new float[3];
+                    dataFloats[0] = GyrCalibrater._Average.x;
+                    dataFloats[1] = GyrCalibrater._Average.y;
+                    dataFloats[2] = GyrCalibrater._Average.z;
+                    string dataStr = String.Join(",", dataFloats);
+                    PlayerPrefs.SetString("o0GyrCalibrater", dataStr);
+                }
+                else
+                {
+                    GyrCalibrater.Calibration = true;
+                    GyrCalibrationButton.GetComponentInChildren<Text>().text = "停止陀螺仪校准";
                 }
             });
         }
@@ -255,7 +299,7 @@ class AimHandler
         float az = -TwoByteToFloat(bytes[8], bytes[9]);
         ax = ax / 32768 * 16;
         ay = ay / 32768 * 16;
-        az = az / 32768 * 16;/**/
+        az = az / 32768 * 16;
         Acc = new Vector3(ax, ay, az);
 
         float roll = TwoByteToFloat(bytes[10], bytes[11]);
@@ -265,7 +309,11 @@ class AimHandler
         pitch = pitch / 32768 * 2000;
         yaw = -yaw / 32768 * 2000;
         Gyr = new Vector3(roll, pitch, yaw) / 1000;
-        var gyr = new Vector3(roll, pitch, yaw) / 1000 * 20;
+        Gyr = GyrCalibrater.Update(Gyr);
+        if (GyrScaleText != null) 
+        {
+            GyrScaleText.text = GyrCalibrater._Average.x + "\n" + GyrCalibrater._Average.y + "\n" + GyrCalibrater._Average.z;
+        }
 
         float x = TwoByteToFloat(bytes[16], bytes[17]);
         float y = TwoByteToFloat(bytes[18], bytes[19]);
@@ -329,7 +377,6 @@ class AimHandler
     bool doIdentity = false;
     bool hasAutoIdentity = false;
     Quaternion newRotation;
-    Quaternion baseRotation = new Quaternion(0, 0, 0, 1);
 
     public void InitAutoIdentity() 
     {

Assets/BowArrow/Scripts/Bluetooth/o09Axis.cs

@@ -308,10 +308,57 @@ public class o0MagneticCalibrater//默认在无磁干扰环境下，有磁干扰
         foreach (var i in ScaleDistance)
             variance += Mathf.Pow(average - i, 2);
         variance /= ScaleDistance.Count;
-        return Mathf.Pow((1 - variance / average), 10) * PointMaxCount;
+        return Mathf.Pow((1 - variance / average), 10) * 100;
         //return variance;
     }
 }
+public class o0GyrCalibrater
+{
+    public Vector3 _Average = Vector3.zero;
+    public long Count = -1;
+    public bool Calibration
+    {
+        get
+        {
+            return Count != -1;
+        }
+        set
+        {
+            if (value)
+                Count = 0;
+            else
+                Count = -1;
+        }
+    }
+    public o0Project.Vector3f Average
+    {
+        get
+        {
+            return new o0Project.Vector3f(_Average.x, _Average.y, _Average.z);
+        }
+        set
+        {
+            _Average = new Vector3(value.x, value.y, value.z);
+        }
+    }
+    public o0GyrCalibrater()
+    {
+
+    }
+    public o0GyrCalibrater(o0Project.Vector3f Average)
+    {
+        this.Average = Average;
+    }
+    public Vector3 Update(Vector3 v)
+    {
+        if (Calibration)
+            _Average += (v - _Average) / ++Count;
+        v -= _Average;
+        if (v.magnitude < 0.0002)
+            return Vector3.zero;
+        return v;
+    }
+}
 public class o09Axis
 {
     static Vector3 AccIdentity = new Vector3(0, -1, 0);