Actually, any power supply transition seems to kick it into the good
state.

Booting on battery, the lid switch is broken, if I plug in AC, then the
lid switch works, and I can then go back and forth between battery and
AC and the lid switch keeps working.

Booting on AC, the lid switch is broken, if I unplug the AC power,  then
the lid switch works, and I can then go back and forth between battery
and AC and the lid switch keeps working.

A soft reboot (just the "reboot" command, for example) is enough to kick
it back into the bad state.

-- 
lid switch on HP 6930p works only after running on battery
https://bugs.launchpad.net/bugs/372824
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