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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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10
tools/switch2_usb_probe/native_imu.h
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@ -31,15 +31,15 @@ struct ProbeNativeMotionSample {
enum class ProbeNativeMotionBias : uint8_t {
kAlreadyCalibrated,
kEstimateStationary,
kTrackStationary,
};
// Core 0 only. Call update even when sensors are unavailable, and consult ready
// before using the orientation. Sequence identities, not polling, admit samples;
// repeated sequences cannot refresh timestamps or contribute to calibration.
// Already-calibrated sources initialize from the first usable fresh sensor pair.
// Wii explicitly requests stationary residual-bias estimation: constant rotation
// about gravity is indistinguishable from an unknown bias without another sensor.
// All sources initialize from the first usable fresh sensor pair. Wii optionally
// refines residual bias in the background without resetting orientation. Steady
// rotation about gravity remains indistinguishable from bias without a reference.
// Fresh near-1g acceleration corrects tilt drift. Heading remains gyro-derived
// unless a reliable optical heading observation is supplied.
class ProbeNativeMotion {
@ -67,6 +67,7 @@ private:
bool integrate(const float gyro_dps[3], uint32_t elapsed_us);
bool correct_gravity(uint32_t elapsed_us);
bool normalize_orientation();
void track_bias(bool new_accel, bool new_gyro, uint32_t gyro_elapsed_us);
bool have_generation_ = false;
ProbeNativeMotionBias bias_mode_ = ProbeNativeMotionBias::kAlreadyCalibrated;
@ -100,6 +101,7 @@ private:
float acceleration_[3]{};
float gyro_dps_[3]{};
float bias_[3]{};
float bias_target_[3]{};
float mean_gyro_[3]{};
float mean_accel_[3]{};
float gravity_reference_[3]{};