Disable tap detection by default, simplify tracking

source/config.h

@@ -5,7 +5,7 @@
 #define FEATURE_CONFIG_SERVICE
 #define FEATURE_TELEMETRY
 #define FEATURE_IMU_STREAM
-#define FEATURE_TAP_DETECTION
+// #define FEATURE_TAP_DETECTION
 #define FEATURE_TEMP_COMPENSATION
 #define FEATURE_AUTO_RECAL
 #define FEATURE_BATTERY_MONITOR

source/main.cpp

@@ -17,7 +17,6 @@
 #include "imu.h"
 #include "ble_config.h"
 #include "battery.h"
-#include "tap.h"
 #include "buttons.h"
 #include <bluefruit.h>
 #include <Adafruit_LittleFS.h>
@@ -116,10 +115,6 @@ bool pendingReset = false;
   bool pendingOTA = false;
 #endif
 
-// Jerk-based shock detection - freeze cursor during tap impacts, doesn't work well yet!
-unsigned long shockFreezeUntil = 0;
-float prevAx = 0, prevAy = 0, prevAz = 0;     // previous frame's accel for Δa
-const unsigned long SHOCK_FREEZE_MS = 80;       // hold freeze after last spike
 
 ChargeStatus lastChargeStatus = CHGSTAT_DISCHARGING;
 
@@ -220,8 +215,6 @@ void setup() {
   #endif
 
   calibrateGyroBias();
-  // Seed previous-accel for jerk detection so first frame doesn't spike
-  prevAx = imu.readFloatAccelX(); prevAy = imu.readFloatAccelY(); prevAz = imu.readFloatAccelZ();
 
   sleepManagerInit();
 
@@ -304,7 +297,7 @@ void loop() {
     #endif
   }
 
-  if (pendingCal)   { pendingCal = false; calibrateGyroBias(); prevAx = imu.readFloatAccelX(); prevAy = imu.readFloatAccelY(); prevAz = imu.readFloatAccelZ(); }
+  if (pendingCal)   { pendingCal = false; calibrateGyroBias(); }
   if (pendingReset) { pendingReset = false; factoryReset(); }
   #ifdef FEATURE_OTA
     if (pendingOTA) {
@@ -372,30 +365,16 @@ void loop() {
   float gy = (imu.readFloatGyroY() - biasGY - correction) * (PI/180.0f); // pitch → cursor Y
   float gz = (imu.readFloatGyroZ() - biasGZ - correction) * (PI/180.0f); // yaw   → cursor X
 
-  float ax = imu.readFloatAccelX();
-  float ay = imu.readFloatAccelY();
-  float az = imu.readFloatAccelZ();
-
   // Axis diagnostic — send 'd' over serial to enable
   if (diagUntil && now < diagUntil) {
     static unsigned long lastDiagPrint = 0;
     if (now - lastDiagPrint >= 100) { lastDiagPrint = now;
       Serial.print("[DIAG] gx="); Serial.print(gx,3);
       Serial.print(" gy="); Serial.print(gy,3);
-      Serial.print(" gz="); Serial.print(gz,3);
+      Serial.print(" gz="); Serial.println(gz,3);
-      Serial.print(" | ax="); Serial.print(ax,3);
-      Serial.print(" ay="); Serial.print(ay,3);
-      Serial.print(" az="); Serial.println(az,3);
     }
   } else if (diagUntil) { diagUntil = 0; Serial.println("[DIAG] Done"); }
 
-  // Jerk-based shock detection - freeze cursor during tap impacts, doesn't work well yet
-  float jx = (ax - prevAx) / dt, jy = (ay - prevAy) / dt, jz = (az - prevAz) / dt;
-  float jerkSq = jx*jx + jy*jy + jz*jz;
-  prevAx = ax; prevAy = ay; prevAz = az;
-  bool shocked = cfg.tapFreezeEnabled && ((jerkSq > cfg.jerkThreshold) || (now < shockFreezeUntil));
-  if (cfg.tapFreezeEnabled && jerkSq > cfg.jerkThreshold) shockFreezeUntil = now + SHOCK_FREEZE_MS;
-
   // Direct axis mapping (empirically verified via diagnostic)
   float yawRate   =  gz;  // gyroZ = pan left/right → cursor X
   float pitchRate =  gy;  // gyroY = nod up/down    → cursor Y
@@ -421,7 +400,7 @@ void loop() {
   #ifdef FEATURE_AUTO_RECAL
     if ((cfg.featureFlags & FLAG_AUTO_RECAL_ENABLED) && idle && idleStartMs != 0 && (now - idleStartMs >= AUTO_RECAL_MS)) {
       Serial.println("[AUTO-CAL] Long idle - recalibrating...");
-      idleStartMs = 0; calibrateGyroBias(); prevAx = imu.readFloatAccelX(); prevAy = imu.readFloatAccelY(); prevAz = imu.readFloatAccelZ(); return;
+      idleStartMs = 0; calibrateGyroBias(); return;
     }
   #endif
 
@@ -430,12 +409,7 @@ void loop() {
 
   static float smoothX = 0.0f, smoothY = 0.0f;
 
-  if (shocked) {
+  if (idle) {
-    // Shock freeze - discard accumulated sub-pixel motion and suppress output
-    smoothX = smoothY = 0.0f;
-    accumX = accumY = 0.0f;
-    flags |= 0x08;  // bit3 = shock freeze active
-  } else if (idle) {
     smoothX = smoothY = 0.0f;
     accumX = accumY = 0.0f;
     flags |= 0x01;
@@ -462,6 +436,7 @@ void loop() {
       if (now < streamBackoffUntil) {
         // Backing off - host TX buffer congested, skip to avoid 100ms block
       } else {
+        float ax = imu.readFloatAccelX(), ay = imu.readFloatAccelY(), az = imu.readFloatAccelZ();
         ImuPacket pkt;
         pkt.gyroX_mDPS = (int16_t)constrain(gx*(180.f/PI)*1000.f, -32000, 32000);
         pkt.gyroZ_mDPS = (int16_t)constrain(gz*(180.f/PI)*1000.f, -32000, 32000);

source/sleep.cpp

@@ -61,7 +61,7 @@ static void lsmWrite(uint8_t reg, uint8_t val) {
   Wire1.endTransmission();
 }
 
-// ISR 
+// ISR
 static void imuInt1ISR() {
   imuWakeFlag = true;
 }
@@ -206,10 +206,8 @@ void sleepManagerWakeIMU() {
 
   // Reset motion filter state to prevent a cursor jump on the first frame.
   extern float accumX, accumY;
-  extern float prevAx, prevAy, prevAz;
   extern unsigned long lastTime;
   accumX = accumY = 0.0f;
-  prevAx = 0.0f; prevAy = 0.0f; prevAz = 0.0f;
   lastTime = millis();
 
   sleepStage = SLEEP_AWAKE;