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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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18
tools/switch2_usb_probe/native_imu.h
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@ -29,18 +29,25 @@ struct ProbeNativeMotionSample {
float gyro_dps[3]{};
};
enum class ProbeNativeMotionBias : uint8_t {
kAlreadyCalibrated,
kEstimateStationary,
};
// 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.
// Startup requires the user to rest the controller: constant rotation about
// gravity is indistinguishable from an unknown gyro bias without another sensor.
// Fresh near-1g acceleration corrects tilt drift after startup. Heading remains
// gyro-derived unless a reliable optical heading observation is supplied.
// 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.
// Fresh near-1g acceleration corrects tilt drift. Heading remains gyro-derived
// unless a reliable optical heading observation is supplied.
class ProbeNativeMotion {
public:
void reset();
void update(uint32_t now_us, uint32_t connection_generation,
const ProbeNativeMotionSample& sample);
const ProbeNativeMotionSample& sample,
ProbeNativeMotionBias bias_mode = ProbeNativeMotionBias::kAlreadyCalibrated);
// Call after update, using a full observed sensor-bar pair (never inferred).
// Positive optical yaw means aim-right, the negative reference-world turn.
// The first sample in each optical generation anchors the current heading;
@ -62,6 +69,7 @@ private:
bool normalize_orientation();
bool have_generation_ = false;
ProbeNativeMotionBias bias_mode_ = ProbeNativeMotionBias::kAlreadyCalibrated;
bool have_update_ = false;
bool seen_accel_sequence_ = false;
bool seen_gyro_sequence_ = false;