mouse controlled by an IMU - vb.net

Question

I am using pitch and yaw angle from an IMU to move a mouse pointer for PC in vb.net.
Unfortunately it doesn't work steady.
First I set the max angles which should be performed
LOAD-Event
'set max angles in degree
maxAngle_YawRight = 30
maxAngle_YawLeft = -30
maxAngle_PitchUp = 20
maxAngle_PitchDown = -20
calculateCurParameter(maxAngle_YawRight, Panel_Right.Location.X, maxAngle_YawLeft, Panel_Left.Location.X + Panel_Left.Width, maxAngle_PitchUp, Panel_Top.Location.Y+Panel_Top.Height, maxAngle_NickDown, Panel_Bottom.Location.Y)
I use four these max angles (pitch_up, pitch_down, yaw_right, yaw_left) to assign them to a part of my form, to get 4 points, e.g. (pitch_up,panel_2.location.Y)
pitch_up and pitch_down are used for the y coordinate of the mouse pointer and yaw_right and yaw_left are used for the x coordinate. This is done by function calculateCurParameter.
Then I use this four points to calculate parameters for an linear equation:
CursorPos=m*angle+b
So you get for every new angle a new Cursor Position.
Private mX As Double
Private bX As Double
Private mY As Double
Private bY As Double
...
Private Sub calculateCurParameter(ByVal maxYawRight As Double, ByVal rightBorder As Double, ByVal maxYawLeft As Double, ByVal leftBorder As Double, ByVal maxPitchUp As Double, ByVal topBorder As Double, ByVal maxPitchDown As Double, ByVal bottomBorder As Double)
'this function calculates the parameter for Ycur=m*Xangle+b for each Pitch and Yaw
'calculate the parameter for the CursorPosition X
dim deltaX= maxYawLeft-maxYawRight
dim deltaY=leftBorder-rightBorder
mX=deltaY/deltaX
bX=rightBorder-mX*maxYawRight
'calculate the parameter for the CursorPosition Y
deltaX=bottomBorder-topBorder
deltaY=maxPitchDown-maxPitchUp
mY=deltaY/deltaX
bY=topBorder-mY*maxPitchUp
end Sub
After that calculation, I use a quadratic weighted moving average (QWMA) as a low pass filter cursor outputs calculated by the function y=m*x+b.
For that moving average I use the last 50 samples of each angle.
After that I put the two angles in each linear equation(cursorPos=m*angle+b) as described.
'Timer-Event which is triggered each 8ms
' yaw and pitch are in degrees and are updated in this timer event before
Dim xCoordCur = Math.Round(mX * yaw + bX)
Dim yCoordCur = Math.Round(mY * pitch + bY)
arrayCurY(cursorCounter) = yCoordCur
arrayCurX(cursorCounter) = xCoordCur
If cursorCounter =50 Then 'need 50 samples to do the QWMA
Dim aqwmY = qwma_calculating(arrayCurY)'function to calculate the QWMA, seems to be working
Dim aqwmX = qwma_calculating(arrayCurX)
'the mouse pointer should not leave the form
If aqwmX > Panel_Right.Location.X Then
aqwmX = Panel_Right.Location.X
ElseIf aqwmX < (Panel_Left.Location.X + Panel_Left.Width) Then
aqwmX = Panel_Left.Location.X + Panel_Left.Width
End If
If aqwmY > Panel_Bottom.Location.Y Then
aqwmY = Panel_Bottom.Location.Y
ElseIf aqwmY < (Panel_Top.Location.Y + Panel_Top.Height) Then
aqwmY = Panel_Top.Location.Y + Panel_Top.Height
End If
'Set the new Cursor Position
Cursor.Position = New Point(aqwmX, aqwmY)
arrayValuesMoving(arrayCurX)'function to move the values one index forward
arrayValuesMoving(arrayCurY)
Else
cursorCounter += 1
End If
In the my last step I set the new Cursor-Position
Cursor.Position=New Point(xCoor,yCoor)
Now I can control the mouse pointer by moving the IMU, but it is very unstable.
For example the mouse pointer still moves although the IMU doesn't move.
It's even impossible to hover over some form elements.
What did I do wrong?
Thanks in advance!

Answer 1

I added the follwoing code:
If xCoor > Cursor.Position.X + 3 Or xCoor < Cursor.Position.X - 3 Then
istxCoor = True
Else
istxCoor = False
End If
If yCoor > Cursor.Position.Y + 3 Or yCoor < Cursor.Position.Y - 3 Then
istyCoor = True
Else
istyCoor = False
End If
If istxCoor And istyCoor Then
SetCursorPos(xCoor, yCoor)
ElseIf istxCoor Then
SetCursorPos(xCoor, Cursor.Position.Y)
ElseIf istyCoor Then
SetCursorPos(Cursor.Position.X, yCoor)
End If
it is now more steady but it has now a time lag.