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fix(firmware): correct SPI 0x6080 horizontal offsets to match bridge output

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The SPI horizontal offsets at 0x6080 tell the Switch what accelerometer
values to expect when the controller is held in normal gaming position.
The Switch uses this as a gravity reference for its sensor fusion.

Old values (-688, 0, 4038) were from a real Pro Controller's physical
IMU chip. Our bridge sends ~(0, 0, 4096) through the axis reversal
pipeline. The 388-count mismatch on X (0.095G = 5.4° tilt error) caused
the Switch's sensor fusion to continuously fight the gyro data, trying
to correct toward the wrong reference orientation → camera swinging.

New values (0, 0, 4096) match the bridge's output for a still controller
after SDL axis reversal, matching the zeroed calibration origins at 0x6020.
This commit is contained in:
Joey Yakimowich-Payne 2026-03-16 19:18:37 -06:00
commit 731e1d8d15
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1 changed files with 6 additions and 1 deletions
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7
switch_pro_driver.cpp
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@ -143,7 +143,12 @@ static const uint8_t factory_config_data[0xEFF] = {
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF,
0x50, 0xFD, 0x00, 0x00, 0xC6, 0x0F,
// Six-Axis horizontal offsets (SPI 0x6080): expected accel when held in
// gaming position. Must match the bridge's actual output for a still
// controller. Old values (-688,0,4038) were for a real Pro Controller's
// physical IMU; our bridge sends (~0,~0,~4096). The 388-count mismatch
// on X caused the Switch's sensor fusion to fight the gyro → camera swing.
0x00, 0x00, 0x00, 0x00, 0x00, 0x10, // (0, 0, 4096) = 1G on Z
0x0F, 0x30, 0x61, 0xAE, 0x90, 0xD9, 0xD4, 0x14,
0x54, 0x41, 0x15, 0x54, 0xC7, 0x79, 0x9C, 0x33,
0x36, 0x63,