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Fix Horipad bluetooth gyro stutter issues using simulated sensor timing approach (based on packet rate observation)

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By observation: wired is 250hz/4000ms, and bluetooth is 120hz/8333ms for IMU sensor.
This commit is contained in:
Aubrey Hesselgren
2026-01-19 14:54:04 -08:00
committed by Sam Lantinga
parent 124c5922aa
commit 5c15d74394
1 changed files with 13 additions and 3 deletions
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16
src/joystick/hidapi/SDL_hidapi_steam_hori.c
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@@ -51,6 +51,8 @@ typedef struct
Uint8 last_state[USB_PACKET_LENGTH];
Uint64 sensor_ticks;
Uint32 last_tick;
Uint64 simulated_sensor_step_ns;
Uint64 simulated_sensor_time_stamp;
bool wireless;
bool serial_needs_init;
} SDL_DriverSteamHori_Context;
@@ -126,9 +128,13 @@ static bool HIDAPI_DriverSteamHori_OpenJoystick(SDL_HIDAPI_Device *device, SDL_J
HIDAPI_DriverSteamHori_UpdateDevice(device);
}
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO, 250.0f);
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL, 250.0f);
const float sensorupdaterate = ctx->wireless ? 120.0f : 250.0f;
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO, sensorupdaterate);
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL, sensorupdaterate);
const Uint64 sensorupdatestep_ms = ctx->wireless ? 8333 : 4000; // Equivalent to 120hz / 250hz respectively
ctx->simulated_sensor_step_ns = SDL_US_TO_NS(sensorupdatestep_ms);
return true;
}
@@ -313,7 +319,11 @@ static void HIDAPI_DriverSteamHori_HandleStatePacket(SDL_Joystick *joystick, SDL
ctx->sensor_ticks += delta;
/* Sensor timestamp is in 1us units, but there seems to be some issues with the values reported from the device */
sensor_timestamp = timestamp; // if the values were good we would call SDL_US_TO_NS(ctx->sensor_ticks);
// sensor_timestamp = timestamp; // if the values were good we would call SDL_US_TO_NS(ctx->sensor_ticks);
/* New approach - simulate a fixed rate of 250hz (from observation). This reduces stutter from dropped/racing bluetooth packets.*/
ctx->simulated_sensor_time_stamp += ctx->simulated_sensor_step_ns;
sensor_timestamp = ctx->simulated_sensor_time_stamp;
const float accelScale = SDL_STANDARD_GRAVITY * 8 / 32768.0f;
const float gyroScale = DEG2RAD(2048);