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Fix Switch quaternion IMU mode

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This commit is contained in:
Joey Yakimowich-Payne 2026-08-29 13:35:24 -06:00
commit 6b6504cf67
6 changed files with 410 additions and 46 deletions
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14
src/switch_pico_bridge/controller_uart_bridge.py
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@ -61,7 +61,6 @@ CONTROLLER_DB_URL_DEFAULT = "https://raw.githubusercontent.com/mdqinc/SDL_GameCo
SDL_TRUE = True
SDL_EVENT_GAMEPAD_SENSOR_UPDATE = getattr(sdl3, "SDL_EVENT_GAMEPAD_SENSOR_UPDATE", 0x658)
GYRO_BIAS_SAMPLES = 200
IMU_BUFFER_SIZE = 32
def parse_mapping(value: str) -> Tuple[int, str]:
@ -1368,8 +1367,8 @@ def handle_sensor_update(
)
ctx.imu_samples.append(sample)
if len(ctx.imu_samples) > IMU_BUFFER_SIZE:
ctx.imu_samples = ctx.imu_samples[-IMU_BUFFER_SIZE:]
if len(ctx.imu_samples) > IMU_SAMPLES_PER_REPORT:
del ctx.imu_samples[:-IMU_SAMPLES_PER_REPORT]
if config.debug_imu:
now = time.monotonic()
@ -1567,12 +1566,9 @@ def service_contexts(
try:
if now - ctx.last_send >= config.interval:
if ctx.sensors_enabled and not config.no_imu:
count = min(len(ctx.imu_samples), IMU_SAMPLES_PER_REPORT)
if count > 0:
ctx.report.imu_samples = ctx.imu_samples[:count]
ctx.imu_samples = ctx.imu_samples[count:]
else:
ctx.report.imu_samples = []
# Keep publishing the latest complete sensor window. Draining
# this at the faster UART rate leaves most USB reports empty.
ctx.report.imu_samples = ctx.imu_samples
else:
ctx.report.imu_samples = []
ctx.uart.send_report(ctx.report)