raise rotation threshold

Author: sctanf

src/globals.h

@@ -37,6 +37,8 @@
 #define DETECTION_THRESHOLD 25
 // How many abnormal rotations to receive before we consider it valid
 #define RESET_THRESHOLD 75
+// Invalid rotation threshold in radians
+#define ROTATION_THRESHOLD 0.52f
 
 // TODO: move to esb
 extern uint8_t stored_trackers;

src/hid.c

@@ -294,8 +294,8 @@ void hid_write_packet_n(uint8_t *data, uint8_t rssi)
 		uint8_t *cur_p = &cur_p_trackers[data[1]];
 		float mag = q_diff_mag(q, last_q); // difference between last valid
 		float mag_cur = q_diff_mag(q, cur_q); // difference between last received
-		bool mag_invalid = mag > 0.26f && mag < 6.28f - 0.26f; // possibly invalid rotation
-		bool mag_cur_invalid = mag_cur > 0.26f && mag_cur < 6.28f - 0.26f; // possibly inconsistent rotation
+		bool mag_invalid = mag > ROTATION_THRESHOLD && mag < 6.28f - ROTATION_THRESHOLD; // possibly invalid rotation
+		bool mag_cur_invalid = mag_cur > ROTATION_THRESHOLD && mag_cur < 6.28f - ROTATION_THRESHOLD; // possibly inconsistent rotation
 		if (mag_invalid && !last_invalid)
 		{
 			if (!mag_cur_invalid && last_valid_trackers[data[1]] >= RESET_THRESHOLD - 1)