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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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5
tests/switch2_wii_bridge_test.cpp
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@ -144,7 +144,7 @@ int main() {
source.accel_q13[1] = 8192; // SDL up -> virtual native rail-down +X.
memcpy(source.gyro_q10, bias_q10, sizeof(bias_q10));
assert(poll());
assert(controls.active && packet[15] == 0); // Wii alone still estimates residual bias before IMU output.
assert(controls.active && packet[15] == 30); // Wii IMU starts before background bias learning.
for (unsigned i = 1; i < 450; ++i) assert(poll());
assert(controls.active && packet[15] == 30 && packet[19] == 0x0c);
assert(signed32(packet+32) == (1 << 28));
@ -222,7 +222,8 @@ int main() {
// Gyro-only motion remains available while the sensor bar is out of view.
ir_mask = 0;
for (unsigned i = 0; i < 20; ++i) assert(poll());
// Give background correction a fresh quiet window after the simulated cooling.
for (unsigned i = 0; i < 750; ++i) assert(poll());
decode_quaternion(packet, initial);
for (unsigned i = 0; i < 250; ++i) assert(poll());
double after_bias[4]; decode_quaternion(packet, after_bias);