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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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12
tests/switch2_native_gamepad_bridge_test.cpp
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@ -321,12 +321,13 @@ void selected_motion_target_keeps_both_control_halves() {
void wii_bias_and_independent_sensor_freshness() {
++source.controller.connection_generation;
source.requires_stationary_bias = true;
source.track_stationary_bias = true;
source.gyro_q10[1] = 2 * 1024;
publish(); pair();
assert(controls[0].active && controls[1].active);
assert(reports[0][2] == 0x01 && reports[1][2] == 0x08);
assert(imu_length(0) == 0 && imu_length(1) == 0);
for (uint8_t instance = 0; instance < 2; ++instance)
assert(imu_length(instance) == ((SWITCH2_BRIDGE_IMU_TARGET_MASK & (1u << instance)) ? 30 : 0));
for (unsigned i = 0; i < 400; ++i) { publish(); pair(); }
for (uint8_t instance = 0; instance < 2; ++instance) {
assert(imu_length(instance) == ((SWITCH2_BRIDGE_IMU_TARGET_MASK & (1u << instance)) ? 30 : 0));
@ -344,12 +345,13 @@ void wii_bias_and_independent_sensor_freshness() {
publish(); pair();
assert(reports[0][2] == 0x01 && reports[1][2] == 0x08);
assert(imu_length(0) == 0 && imu_length(1) == 0);
// Returning real Wii sensors must settle again, not reuse the old bias.
// Fresh Wii sensors recover immediately, without borrowing the old bias.
source.gyro_valid = true;
publish(); pair();
assert(imu_length(0) == 0 && imu_length(1) == 0);
for (uint8_t instance = 0; instance < 2; ++instance)
assert(imu_length(instance) == ((SWITCH2_BRIDGE_IMU_TARGET_MASK & (1u << instance)) ? 30 : 0));
// A factory-calibrated source switching policy must initialize immediately.
source.requires_stationary_bias = false;
source.track_stationary_bias = false;
publish(); pair();
for (uint8_t instance = 0; instance < 2; ++instance) {
assert(imu_length(instance) == ((SWITCH2_BRIDGE_IMU_TARGET_MASK & (1u << instance)) ? 30 : 0));