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Start Wii motion immediately and track residual bias in background

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This commit is contained in:
Joey Yakimowich-Payne 2026-09-13 00:00:53 -06:00
commit 26a25a66af
14 changed files with 210 additions and 101 deletions
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16
tests/native_gamepad_backend_test.cpp
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@ -84,7 +84,7 @@ void source_isolation() {
const auto initial = bridge_snapshot();
require(initial.slot == 0 && initial.controller.active && initial.controller.state.button_south &&
initial.battery == 176 && initial.accel_valid && initial.gyro_valid &&
!initial.requires_stationary_bias && initial.accel_q13[1] == 8193 &&
!initial.track_stationary_bias && initial.accel_q13[1] == 8193 &&
initial.gyro_q10[2] == -123456 && initial.gyro_received_us == 100000,
"native snapshot must preserve coherent physical controls and calibrated precision");
now_ms = 120;
@ -319,7 +319,7 @@ void sensorless_admission() {
uint64_t cue = 99;
require(initial.controller.active && initial.slot == 0 &&
initial.controller.state.button_south && !initial.accel_valid &&
!initial.gyro_valid && !initial.requires_stationary_bias &&
!initial.gyro_valid && !initial.track_stationary_bias &&
initial.accel_sequence == 0 && initial.gyro_sequence == 0 &&
!bluepad32_input_backend_native_sample_request(0, 1, &cue) && cue == 0,
"sensorless controls remain live without invented IMU or rumble capability");
@ -356,9 +356,9 @@ void independent_motion() {
now_ms = 100;
report_gamepad(ds4);
const auto first = bridge_snapshot();
require(first.accel_valid && first.gyro_valid && !first.requires_stationary_bias &&
require(first.accel_valid && first.gyro_valid && !first.track_stationary_bias &&
first.accel_q13[1] == 8193 && first.gyro_q10[2] == -123456,
"calibrated DS4 motion keeps raw precision without Wii settling");
"calibrated DS4 motion retains precision without Wii background correction");
now_ms = 110;
++ds.report_sequence;
++ds.accel_sequence;
@ -408,8 +408,8 @@ void independent_motion() {
sw.accel_valid = sw.gyro_valid = true;
report_gamepad(pro);
require(bridge_snapshot().accel_valid && bridge_snapshot().gyro_valid &&
!bridge_snapshot().requires_stationary_bias,
"validated Switch motion starts without Wii stationary settling");
!bridge_snapshot().track_stationary_bias,
"validated Switch motion does not enable Wii background correction");
platform_on_device_disconnected(&pro);
auto remote = wii_device(2);
@ -420,7 +420,7 @@ void independent_motion() {
now_ms = 200;
report_gamepad(remote);
require(bridge_snapshot().controller.state.button_south && bridge_snapshot().accel_valid &&
!bridge_snapshot().gyro_valid && bridge_snapshot().requires_stationary_bias,
!bridge_snapshot().gyro_valid && bridge_snapshot().track_stationary_bias,
"Wii without MotionPlus remains acceleration-capable, not a fabricated full IMU");
now_ms = 210;
++wii.gyro_sequence;
@ -428,7 +428,7 @@ void independent_motion() {
report_gamepad(remote);
require(bridge_snapshot().gyro_valid && bridge_snapshot().gyro_received_us == 210000 &&
bridge_snapshot().accel_received_us == 200000 &&
bridge_snapshot().requires_stationary_bias,
bridge_snapshot().track_stationary_bias,
"Wii MotionPlus ingress must retain independent acceleration age and Wii bias policy");
}