Rework the Gyro Tilt screen (and the tilt->RGB lightbar) using the DS5's
own factory IMU calibration, and fix two long-standing tilt-dot quirks.
All three are display-only — the host input report (every gyro + accel
axis) is still forwarded byte-for-byte, so in-game motion is unaffected.
- Calibration: parse feature report 0x05 (already cached by bt.cpp) into
per-axis bias + sensitivity and apply (raw-bias)*sens to the accel the
tilt visuals use, keeping the +-8192 == 1g scale. Re-read per connection
so it tracks across the 4 pairing slots; sanity-gated with raw fallback.
New side-effect-free bt_peek_feature() accessor (never issues an L2CAP
request, safe to poll). Parse/apply mirror SDL's SDL_hidapi_ps5.c (zlib).
- Centred when flat: drive the dot from X (roll) + Z (pitch) instead of
X + Y. Gravity rests on Y when flat, so the old Y mapping pegged the dot
to the bottom edge at rest; it now sits centred.
- Direction: negate both axes so the dot follows the tilt (tilt left -> dot
left, tilt forward -> dot up) instead of mirroring it.
Also fold in this session's charge-ETA robustness fix: cap each timed 10%
step at 30 min and take the median over the last 5 steps, so one slow step
can't balloon the estimate (was reading ~222m at 70% off a single ~47-min
step). Shares src/oled.cpp with the gyro work.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
