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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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4
tools/switch2_usb_probe/controller_input.cpp
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@ -290,7 +290,7 @@ void poll_wii_source(uint32_t now_ms) {
motion.gyro_dps[0] = static_cast<float>(g_wii.gyro_q10[1]) / 1024.0f;
motion.gyro_dps[1] = -static_cast<float>(g_wii.gyro_q10[2]) / 1024.0f;
motion.gyro_dps[2] = -static_cast<float>(g_wii.gyro_q10[0]) / 1024.0f;
g_motion.update(now_us, g_wii_generation, motion, ProbeNativeMotionBias::kEstimateStationary);
g_motion.update(now_us, g_wii_generation, motion, ProbeNativeMotionBias::kTrackStationary);
WiiIrMouseReport optical{};
(void)wii_ir_mouse_peek(&optical, 0);
// Core 1 may publish during the peek. Read the clock after the snapshot.
@ -308,7 +308,7 @@ void poll_wii_source(uint32_t now_ms) {
lroundf(bias[2] * 1000));
} else {
probe_debug_printf("[PROBE] Wii native IMU %s\n", sensor_status ?
"calibrating: keep still" : "waiting for fresh calibrated accelerometer/MotionPlus");
"waiting for a usable acceleration sample" : "waiting for fresh calibrated accelerometer/MotionPlus");
}
}
update_wii_ir_gate(now_us);