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joystick: Apply Gyroscope Zero-Rate Offset (ZRO) subtraction to live IMU data for Switch Controllers.

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This commit is contained in:
Dimitri Alexeev
2026-06-20 13:08:45 +02:00
committed by Sam Lantinga
parent f5511b49b6
commit ef6e76e00b
1 changed files with 20 additions and 3 deletions
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23
src/joystick/hidapi/SDL_hidapi_switch.c
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@@ -351,6 +351,10 @@ typedef struct
float fGyroScaleX;
float fGyroScaleY;
float fGyroScaleZ;
Sint16 sGyroOffsetX;
Sint16 sGyroOffsetY;
Sint16 sGyroOffsetZ;
} m_IMUScaleData;
} SDL_DriverSwitch_Context;
@@ -1129,6 +1133,11 @@ static bool LoadIMUCalibration(SDL_DriverSwitch_Context *ctx)
}
}
// Gyro zero-rate offset
ctx->m_IMUScaleData.sGyroOffsetX = sGyroRawX;
ctx->m_IMUScaleData.sGyroOffsetY = sGyroRawY;
ctx->m_IMUScaleData.sGyroOffsetZ = sGyroRawZ;
// Accelerometer scale
ctx->m_IMUScaleData.fAccelScaleX = SWITCH_ACCEL_SCALE_MULT / ((float)sAccelSensCoeffX - (float)sAccelRawX) * SDL_STANDARD_GRAVITY;
ctx->m_IMUScaleData.fAccelScaleY = SWITCH_ACCEL_SCALE_MULT / ((float)sAccelSensCoeffY - (float)sAccelRawY) * SDL_STANDARD_GRAVITY;
@@ -1151,6 +1160,10 @@ static bool LoadIMUCalibration(SDL_DriverSwitch_Context *ctx)
ctx->m_IMUScaleData.fGyroScaleX = gyroScale;
ctx->m_IMUScaleData.fGyroScaleY = gyroScale;
ctx->m_IMUScaleData.fGyroScaleZ = gyroScale;
ctx->m_IMUScaleData.sGyroOffsetX = 0;
ctx->m_IMUScaleData.sGyroOffsetY = 0;
ctx->m_IMUScaleData.sGyroOffsetZ = 0;
}
return true;
}
@@ -2366,9 +2379,13 @@ static void SendSensorUpdate(Uint64 timestamp, SDL_Joystick *joystick, SDL_Drive
* users will want consistent axis mappings across devices.
*/
if (type == SDL_SENSOR_GYRO || type == SDL_SENSOR_GYRO_L || type == SDL_SENSOR_GYRO_R) {
data[0] = -(ctx->m_IMUScaleData.fGyroScaleY * (float)values[1]);
data[1] = ctx->m_IMUScaleData.fGyroScaleZ * (float)values[2];
data[2] = -(ctx->m_IMUScaleData.fGyroScaleX * (float)values[0]);
const float gyroX = (float)(values[0] - ctx->m_IMUScaleData.sGyroOffsetX);
const float gyroY = (float)(values[1] - ctx->m_IMUScaleData.sGyroOffsetY);
const float gyroZ = (float)(values[2] - ctx->m_IMUScaleData.sGyroOffsetZ);
data[0] = -(ctx->m_IMUScaleData.fGyroScaleY * gyroY);
data[1] = ctx->m_IMUScaleData.fGyroScaleZ * gyroZ;
data[2] = -(ctx->m_IMUScaleData.fGyroScaleX * gyroX);
} else {
data[0] = -(ctx->m_IMUScaleData.fAccelScaleY * (float)values[1]);
data[1] = ctx->m_IMUScaleData.fAccelScaleZ * (float)values[2];