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Add DualSense native pair and Wii-only IMU settling

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This commit is contained in:
Joey Yakimowich-Payne 2026-09-12 22:06:50 -06:00
commit ab70536fdf
31 changed files with 2617 additions and 77 deletions
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13
tools/switch2_usb_probe/native_imu.cpp
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@ -319,11 +319,12 @@ void ProbeNativeMotion::observe_optical_heading(uint32_t now_us, uint32_t refere
}
void ProbeNativeMotion::update(uint32_t now_us, uint32_t connection_generation,
const ProbeNativeMotionSample& sample) {
if (!have_generation_ || connection_generation != connection_generation_) {
const ProbeNativeMotionSample& sample, ProbeNativeMotionBias bias_mode) {
if (!have_generation_ || connection_generation != connection_generation_ || bias_mode != bias_mode_) {
reset();
have_generation_ = true;
connection_generation_ = connection_generation;
bias_mode_ = bias_mode;
}
const uint32_t elapsed_us = have_update_ ? now_us - update_us_ : 0;
update_us_ = now_us;
@ -385,6 +386,14 @@ void ProbeNativeMotion::update(uint32_t now_us, uint32_t connection_generation,
return;
}
if (bias_mode_ == ProbeNativeMotionBias::kAlreadyCalibrated) {
// Trust only the caller's validated calibrated samples, not an estimated
// stationary bias. The first acceleration fixes a relative gravity frame.
for (unsigned i = 0; i < 3; ++i) mean_accel_[i] = acceleration_[i];
ready_ = initialize_orientation();
return;
}
const float acceleration_norm_squared = squared_norm(acceleration_);
if (acceleration_norm_squared < 0.85f * 0.85f ||
acceleration_norm_squared > 1.15f * 1.15f) {