6 files changed, 30 insertions, 18 deletions
diff --git a/src/core/hid/emulated_console.cpp b/src/core/hid/emulated_console.cpp
index 685ec080c..08f8af551 100644
--- a/src/core/hid/emulated_console.cpp
+++ b/src/core/hid/emulated_console.cpp
@@ -161,7 +161,10 @@ void EmulatedConsole::SetMotion(const Common::Input::CallbackStatus& callback) {
     motion.rotation = emulated.GetGyroscope();
     motion.orientation = emulated.GetOrientation();
     motion.quaternion = emulated.GetQuaternion();
+    motion.gyro_bias = emulated.GetGyroBias();
     motion.is_at_rest = !emulated.IsMoving(motion_sensitivity);
+    // Find what is this value
+    motion.verticalization_error = 0.0f;
 
     TriggerOnChange(ConsoleTriggerType::Motion);
 }
diff --git a/src/core/hid/emulated_console.h b/src/core/hid/emulated_console.h
index 3afd284d5..707419102 100644
--- a/src/core/hid/emulated_console.h
+++ b/src/core/hid/emulated_console.h
@@ -50,6 +50,8 @@ struct ConsoleMotion {
     Common::Vec3f rotation{};
     std::array<Common::Vec3f, 3> orientation{};
     Common::Quaternion<f32> quaternion{};
+    Common::Vec3f gyro_bias{};
+    f32 verticalization_error{};
     bool is_at_rest{};
 };
 
diff --git a/src/core/hid/emulated_controller.cpp b/src/core/hid/emulated_controller.cpp
index 93372445b..ff9d7a7e3 100644
--- a/src/core/hid/emulated_controller.cpp
+++ b/src/core/hid/emulated_controller.cpp
@@ -843,23 +843,18 @@ bool EmulatedController::SetVibration(std::size_t device_index, VibrationValue v
 }
 
 bool EmulatedController::TestVibration(std::size_t device_index) {
-    if (device_index >= output_devices.size()) {
-        return false;
-    }
-    if (!output_devices[device_index]) {
-        return false;
-    }
-
-    // Send a slight vibration to test for rumble support
-    constexpr Common::Input::VibrationStatus status = {
+    static constexpr VibrationValue test_vibration = {
         .low_amplitude = 0.001f,
         .low_frequency = 160.0f,
         .high_amplitude = 0.001f,
         .high_frequency = 320.0f,
-        .type = Common::Input::VibrationAmplificationType::Linear,
     };
-    return output_devices[device_index]->SetVibration(status) ==
-           Common::Input::VibrationError::None;
+
+    // Send a slight vibration to test for rumble support
+    SetVibration(device_index, test_vibration);
+
+    // Stop any vibration and return the result
+    return SetVibration(device_index, DEFAULT_VIBRATION_VALUE);
 }
 
 void EmulatedController::SetLedPattern() {
diff --git a/src/core/hid/hid_types.h b/src/core/hid/hid_types.h
index 7c12f01fc..4eca68533 100644
--- a/src/core/hid/hid_types.h
+++ b/src/core/hid/hid_types.h
@@ -496,6 +496,13 @@ struct VibrationValue {
 };
 static_assert(sizeof(VibrationValue) == 0x10, "VibrationValue has incorrect size.");
 
+constexpr VibrationValue DEFAULT_VIBRATION_VALUE{
+    .low_amplitude = 0.0f,
+    .low_frequency = 160.0f,
+    .high_amplitude = 0.0f,
+    .high_frequency = 320.0f,
+};
+
 // This is nn::hid::VibrationDeviceInfo
 struct VibrationDeviceInfo {
     VibrationDeviceType type{};
diff --git a/src/core/hid/motion_input.cpp b/src/core/hid/motion_input.cpp
index c25fea966..a23f192d7 100644
--- a/src/core/hid/motion_input.cpp
+++ b/src/core/hid/motion_input.cpp
@@ -23,11 +23,11 @@ void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) {
 }
 
 void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
-    gyro = gyroscope - gyro_drift;
+    gyro = gyroscope - gyro_bias;
 
     // Auto adjust drift to minimize drift
     if (!IsMoving(0.1f)) {
-        gyro_drift = (gyro_drift * 0.9999f) + (gyroscope * 0.0001f);
+        gyro_bias = (gyro_bias * 0.9999f) + (gyroscope * 0.0001f);
     }
 
     if (gyro.Length2() < gyro_threshold) {
@@ -41,8 +41,8 @@ void MotionInput::SetQuaternion(const Common::Quaternion<f32>& quaternion) {
     quat = quaternion;
 }
 
-void MotionInput::SetGyroDrift(const Common::Vec3f& drift) {
-    gyro_drift = drift;
+void MotionInput::SetGyroBias(const Common::Vec3f& bias) {
+    gyro_bias = bias;
 }
 
 void MotionInput::SetGyroThreshold(f32 threshold) {
@@ -192,6 +192,10 @@ Common::Vec3f MotionInput::GetGyroscope() const {
     return gyro;
 }
 
+Common::Vec3f MotionInput::GetGyroBias() const {
+    return gyro_bias;
+}
+
 Common::Quaternion<f32> MotionInput::GetQuaternion() const {
     return quat;
 }
diff --git a/src/core/hid/motion_input.h b/src/core/hid/motion_input.h
index 5b5b420bb..bca4520fa 100644
--- a/src/core/hid/motion_input.h
+++ b/src/core/hid/motion_input.h
@@ -24,7 +24,7 @@ public:
     void SetAcceleration(const Common::Vec3f& acceleration);
     void SetGyroscope(const Common::Vec3f& gyroscope);
     void SetQuaternion(const Common::Quaternion<f32>& quaternion);
-    void SetGyroDrift(const Common::Vec3f& drift);
+    void SetGyroBias(const Common::Vec3f& bias);
     void SetGyroThreshold(f32 threshold);
 
     void EnableReset(bool reset);
@@ -36,6 +36,7 @@ public:
     [[nodiscard]] std::array<Common::Vec3f, 3> GetOrientation() const;
     [[nodiscard]] Common::Vec3f GetAcceleration() const;
     [[nodiscard]] Common::Vec3f GetGyroscope() const;
+    [[nodiscard]] Common::Vec3f GetGyroBias() const;
     [[nodiscard]] Common::Vec3f GetRotations() const;
     [[nodiscard]] Common::Quaternion<f32> GetQuaternion() const;
 
@@ -69,7 +70,7 @@ private:
     Common::Vec3f gyro;
 
     // Vector to be substracted from gyro measurements
-    Common::Vec3f gyro_drift;
+    Common::Vec3f gyro_bias;
 
     // Minimum gyro amplitude to detect if the device is moving
     f32 gyro_threshold = 0.0f;