npm - dualsense-ts - Versions diffs - 6.11.0 → 6.12.0 - Mend

dualsense-ts 6.11.0 → 6.12.0

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (29) hide show

package/CHANGELOG.md +7 -0
package/README.md +5 -3
package/dist/dualsense.d.ts +7 -1
package/dist/dualsense.d.ts.map +1 -1
package/dist/dualsense.js +8 -0
package/dist/dualsense.js.map +1 -1
package/dist/hid/calibration.d.ts +102 -0
package/dist/hid/calibration.d.ts.map +1 -0
package/dist/hid/calibration.js +164 -0
package/dist/hid/calibration.js.map +1 -0
package/dist/hid/dualsense_hid.d.ts +6 -0
package/dist/hid/dualsense_hid.d.ts.map +1 -1
package/dist/hid/dualsense_hid.js +7 -0
package/dist/hid/dualsense_hid.js.map +1 -1
package/dist/hid/hid_provider.d.ts +3 -0
package/dist/hid/hid_provider.d.ts.map +1 -1
package/dist/hid/hid_provider.js +16 -12
package/dist/hid/hid_provider.js.map +1 -1
package/dist/hid/index.d.ts +1 -0
package/dist/hid/index.d.ts.map +1 -1
package/dist/hid/index.js +1 -0
package/dist/hid/index.js.map +1 -1
package/dist/hid/node_hid_provider.d.ts.map +1 -1
package/dist/hid/node_hid_provider.js +7 -2
package/dist/hid/node_hid_provider.js.map +1 -1
package/dist/hid/web_hid_provider.d.ts.map +1 -1
package/dist/hid/web_hid_provider.js +8 -2
package/dist/hid/web_hid_provider.js.map +1 -1
package/package.json +1 -1

package/CHANGELOG.md CHANGED Viewed

@@ -2,6 +2,13 @@
 All notable changes to `dualsense-ts` are documented here. This project uses [Semantic Versioning](https://semver.org/).
+## [6.12.0] - 2026-04-14
+### Added
+- **IMU calibration**:gyroscope and accelerometer readings now use per-unit factory calibration data (Feature Report 0x05) read automatically on connection. Removes gyro bias drift, corrects accelerometer zero-point offset, and normalises per-axis sensitivity so all three axes report consistent values for the same physical input
+- `controller.calibration` exposes the resolved calibration factors for inspection and diagnostics
 ## [6.11.0] - 2026-04-13
 ### Added

package/README.md CHANGED Viewed

@@ -13,7 +13,7 @@ Check out the **[interactive docs](https://nsfm.github.io/dualsense-ts/)**! Conn
 - **Lighting control** covering [RGB light bars](https://nsfm.github.io/dualsense-ts/outputs/lightbar), [player LEDs](https://nsfm.github.io/dualsense-ts/outputs/player-leds), and [mute button](https://nsfm.github.io/dualsense-ts/outputs/mute-led)
 - **Full haptics control** over independent [left/right rumble](https://nsfm.github.io/dualsense-ts/outputs/rumble) plus complete [trigger haptics](https://nsfm.github.io/dualsense-ts/outputs/trigger-effects)
 - **[Touchpad support](https://nsfm.github.io/dualsense-ts/inputs/touchpad)** with full multi-touch handling
-- **[Motion tracking](https://nsfm.github.io/dualsense-ts/inputs/motion)** via gyroscope and accelerometer readings
+- **[Motion tracking](https://nsfm.github.io/dualsense-ts/inputs/motion)** via factory-calibrated gyroscope and accelerometer readings
 - **[Battery status](https://nsfm.github.io/dualsense-ts/inputs/battery)** including level and charging state
 - **[Audio controls](https://nsfm.github.io/dualsense-ts/outputs/audio)** for speaker, headphone, and microphone volume, routing, and muting
 - **Peripheral status** for connected headphones and microphone
@@ -180,7 +180,7 @@ Each touch point also exposes a `tracker` ([Increment](src/elements/increment.ts
 #### [Motion Control](https://nsfm.github.io/dualsense-ts/inputs/motion)
-You can access raw gyroscope and accelerometer readings from the device:
+Values from the controller's 6-axis IMU are provided:
 ```typescript
 controller.gyroscope.on("change", ({ x, y, z }) => {
@@ -196,7 +196,9 @@ controller.accelerometer.z.on("change", ({ magnitude }) => {
 });
 ```
-You'll need to perform additional processing to get the most use out of them - for example, by buffering accelerometer inputs and using a rolling Fourier transform to detect shaking.
+You'll need to perform additional processing to get the most use out of the raw readings — for example, by buffering accelerometer inputs and using a rolling Fourier transform to detect shaking.
+Gyroscope and accelerometer readings are automatically calibrated using each controller's factory calibration data, which removes gyro bias drift and accelerometer zero-point offset. Calibration is applied transparently — you can inspect the resolved factors via `controller.calibration`. See [Factory Calibration](https://nsfm.github.io/dualsense-ts/inputs/motion) in the docs for details on bias removal, zero-point correction, and per-axis sensitivity normalization.
 #### [Battery](https://nsfm.github.io/dualsense-ts/inputs/battery)

package/dist/dualsense.d.ts CHANGED Viewed

@@ -1,6 +1,6 @@
 import { Momentary, Dpad, DpadParams, Mute, Unisense, UnisenseParams, Touchpad, Gyroscope, GyroscopeParams, Accelerometer, AccelerometerParams, Battery, BatteryParams, Lightbar, PlayerLeds, Audio, PowerSaveControl } from "./elements";
 import { Input, InputParams } from "./input";
-import { DualsenseHID, FirmwareInfo, FactoryInfo, DualsenseColor } from "./hid";
+import { DualsenseHID, FirmwareInfo, FactoryInfo, DualsenseColor, ResolvedCalibration } from "./hid";
 import { Intensity } from "./math";
 /** Settings for your Dualsense controller and each of its inputs */
 export interface DualsenseParams extends InputParams {
@@ -105,6 +105,12 @@ export declare class Dualsense extends Input<Dualsense> {
      * Contains sensible defaults until the device reports its actual values.
      */
     get factoryInfo(): FactoryInfo;
+    /**
+     * IMU calibration factors derived from the controller's factory calibration
+     * data (Feature Report 0x05).  Applied automatically to gyroscope and
+     * accelerometer readings — exposed here for inspection and diagnostics.
+     */
+    get calibration(): ResolvedCalibration;
     /** A virtual button representing whether or not a controller is connected */
     readonly connection: Momentary;
     /** True if any input at all is active or changing */

package/dist/dualsense.d.ts.map CHANGED Viewed

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package/dist/dualsense.js CHANGED Viewed

@@ -20,6 +20,14 @@ class Dualsense extends input_1.Input {
     get factoryInfo() {
         return this.hid.factoryInfo;
     }
+    /**
+     * IMU calibration factors derived from the controller's factory calibration
+     * data (Feature Report 0x05).  Applied automatically to gyroscope and
+     * accelerometer readings — exposed here for inspection and diagnostics.
+     */
+    get calibration() {
+        return this.hid.calibration;
+    }
     /** True if any input at all is active or changing */
     get active() {
         return Object.values(this).some((input) => input !== this && input instanceof input_1.Input && input.active);

package/dist/dualsense.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/dist/hid/calibration.d.ts ADDED Viewed

@@ -0,0 +1,102 @@
+/**
+ * IMU calibration data from Feature Report 0x05.
+ *
+ * The DualSense stores per-unit factory calibration for the gyroscope and
+ * accelerometer.  Reading and applying these offsets and scale factors
+ * removes bias drift and normalises per-axis sensitivity, giving more
+ * accurate motion data than the hardcoded mapping.
+ *
+ * Layout mirrors the Linux kernel hid-playstation.c interpretation of
+ * Feature Report 0x05 (41 bytes including the report-ID prefix).
+ */
+import type { HIDProvider } from "./hid_provider";
+/** Per-axis calibration parameters for one gyro axis */
+export interface GyroAxisCalibration {
+    /** Resting-state bias (raw int16 counts) */
+    bias: number;
+    /** Raw count at +reference rotation rate */
+    plus: number;
+    /** Raw count at −reference rotation rate */
+    minus: number;
+}
+/** Per-axis calibration parameters for one accelerometer axis */
+export interface AccelAxisCalibration {
+    /** Raw count at +1 g */
+    plus: number;
+    /** Raw count at −1 g */
+    minus: number;
+}
+/** Full IMU calibration data parsed from Feature Report 0x05 */
+export interface IMUCalibration {
+    gyro: {
+        pitch: GyroAxisCalibration;
+        yaw: GyroAxisCalibration;
+        roll: GyroAxisCalibration;
+        /** Reference rotation-rate magnitude (positive direction) */
+        speedPlus: number;
+        /** Reference rotation-rate magnitude (negative direction) */
+        speedMinus: number;
+    };
+    accel: {
+        x: AccelAxisCalibration;
+        y: AccelAxisCalibration;
+        z: AccelAxisCalibration;
+    };
+}
+/** Precomputed bias + scale for a single axis */
+export interface AxisCalibrationFactors {
+    /** Value to subtract from the raw int16 */
+    bias: number;
+    /** Multiplier: calibrated = (raw − bias) × scale, then clamp to [−1, 1] */
+    scale: number;
+}
+/**
+ * Precomputed calibration factors for all six IMU axes.
+ *
+ * Per-sample application: `calibrated = clamp((raw − bias) × scale, −1, 1)`
+ */
+export interface ResolvedCalibration {
+    gyroPitch: AxisCalibrationFactors;
+    gyroYaw: AxisCalibrationFactors;
+    gyroRoll: AxisCalibrationFactors;
+    accelX: AxisCalibrationFactors;
+    accelY: AxisCalibrationFactors;
+    accelZ: AxisCalibrationFactors;
+}
+/** Identity calibration: zero bias, uniform 1/32767 scale */
+export declare const DefaultResolvedCalibration: ResolvedCalibration;
+/**
+ * Parse Feature Report 0x05 into an {@link IMUCalibration}.
+ *
+ * The report may or may not include the report-ID byte as the first
+ * element depending on platform — the parser auto-detects.
+ */
+export declare function parseIMUCalibration(buf: Uint8Array): IMUCalibration;
+/**
+ * Precompute per-axis bias and scale from raw calibration data.
+ *
+ * **Gyroscope:** Removes resting-state bias and normalises per-axis
+ * sensitivity so that the same physical rotation rate produces the same
+ * numeric value on all three axes.  The most-sensitive axis (largest
+ * raw range) maps exactly to [-1, 1] at full scale; less-sensitive
+ * axes are boosted to match, with ≤ 4% clipping at extreme values.
+ *
+ * **Accelerometer:** Removes the zero-point offset (manufacturing
+ * tolerance) and normalises per-axis sensitivity the same way.
+ */
+export declare function resolveCalibration(cal: IMUCalibration): ResolvedCalibration;
+/**
+ * Read and parse IMU calibration from a connected controller.
+ * Returns undefined if the report cannot be read.
+ */
+export declare function readIMUCalibration(provider: HIDProvider): Promise<IMUCalibration | undefined>;
+/**
+ * Assemble two raw report bytes into a signed int16.
+ */
+export declare function rawInt16(lo: number, hi: number): number;
+/**
+ * Apply precomputed calibration to a single axis sample.
+ * `calibrated = clamp((raw − bias) × scale, −1, 1)`
+ */
+export declare function applyCal(raw: number, factors: AxisCalibrationFactors): number;
+//# sourceMappingURL=calibration.d.ts.map

package/dist/hid/calibration.d.ts.map ADDED Viewed

@@ -0,0 +1 @@

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package/dist/hid/calibration.js ADDED Viewed

@@ -0,0 +1,164 @@
+"use strict";
+/**
+ * IMU calibration data from Feature Report 0x05.
+ *
+ * The DualSense stores per-unit factory calibration for the gyroscope and
+ * accelerometer.  Reading and applying these offsets and scale factors
+ * removes bias drift and normalises per-axis sensitivity, giving more
+ * accurate motion data than the hardcoded mapping.
+ *
+ * Layout mirrors the Linux kernel hid-playstation.c interpretation of
+ * Feature Report 0x05 (41 bytes including the report-ID prefix).
+ */
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.DefaultResolvedCalibration = void 0;
+exports.parseIMUCalibration = parseIMUCalibration;
+exports.resolveCalibration = resolveCalibration;
+exports.readIMUCalibration = readIMUCalibration;
+exports.rawInt16 = rawInt16;
+exports.applyCal = applyCal;
+// ---------------------------------------------------------------------------
+// Defaults
+// ---------------------------------------------------------------------------
+/** Identity calibration: zero bias, uniform 1/32767 scale */
+exports.DefaultResolvedCalibration = {
+    gyroPitch: { bias: 0, scale: 1 / 32767 },
+    gyroYaw: { bias: 0, scale: 1 / 32767 },
+    gyroRoll: { bias: 0, scale: 1 / 32767 },
+    accelX: { bias: 0, scale: 1 / 32767 },
+    accelY: { bias: 0, scale: 1 / 32767 },
+    accelZ: { bias: 0, scale: 1 / 32767 },
+};
+// ---------------------------------------------------------------------------
+// Parsing
+// ---------------------------------------------------------------------------
+const REPORT_ID = 0x05;
+const REPORT_LENGTH = 41;
+function readInt16LE(buf, offset) {
+    let v = buf[offset] | (buf[offset + 1] << 8);
+    if (v > 0x7fff)
+        v -= 0x10000;
+    return v;
+}
+/**
+ * Parse Feature Report 0x05 into an {@link IMUCalibration}.
+ *
+ * The report may or may not include the report-ID byte as the first
+ * element depending on platform — the parser auto-detects.
+ */
+function parseIMUCalibration(buf) {
+    const off = buf[0] === REPORT_ID ? 1 : 0;
+    return {
+        gyro: {
+            pitch: {
+                bias: readInt16LE(buf, off + 0),
+                plus: readInt16LE(buf, off + 6),
+                minus: readInt16LE(buf, off + 8),
+            },
+            yaw: {
+                bias: readInt16LE(buf, off + 2),
+                plus: readInt16LE(buf, off + 10),
+                minus: readInt16LE(buf, off + 12),
+            },
+            roll: {
+                bias: readInt16LE(buf, off + 4),
+                plus: readInt16LE(buf, off + 14),
+                minus: readInt16LE(buf, off + 16),
+            },
+            speedPlus: readInt16LE(buf, off + 18),
+            speedMinus: readInt16LE(buf, off + 20),
+        },
+        accel: {
+            x: { plus: readInt16LE(buf, off + 22), minus: readInt16LE(buf, off + 24) },
+            y: { plus: readInt16LE(buf, off + 26), minus: readInt16LE(buf, off + 28) },
+            z: { plus: readInt16LE(buf, off + 30), minus: readInt16LE(buf, off + 32) },
+        },
+    };
+}
+// ---------------------------------------------------------------------------
+// Resolution: raw calibration → precomputed factors
+// ---------------------------------------------------------------------------
+/**
+ * Precompute per-axis bias and scale from raw calibration data.
+ *
+ * **Gyroscope:** Removes resting-state bias and normalises per-axis
+ * sensitivity so that the same physical rotation rate produces the same
+ * numeric value on all three axes.  The most-sensitive axis (largest
+ * raw range) maps exactly to [-1, 1] at full scale; less-sensitive
+ * axes are boosted to match, with ≤ 4% clipping at extreme values.
+ *
+ * **Accelerometer:** Removes the zero-point offset (manufacturing
+ * tolerance) and normalises per-axis sensitivity the same way.
+ */
+function resolveCalibration(cal) {
+    const pitchRange = cal.gyro.pitch.plus - cal.gyro.pitch.minus;
+    const yawRange = cal.gyro.yaw.plus - cal.gyro.yaw.minus;
+    const rollRange = cal.gyro.roll.plus - cal.gyro.roll.minus;
+    const maxGyroRange = Math.max(Math.abs(pitchRange), Math.abs(yawRange), Math.abs(rollRange));
+    const xRange = cal.accel.x.plus - cal.accel.x.minus;
+    const yRange = cal.accel.y.plus - cal.accel.y.minus;
+    const zRange = cal.accel.z.plus - cal.accel.z.minus;
+    const maxAccelRange = Math.max(Math.abs(xRange), Math.abs(yRange), Math.abs(zRange));
+    function gyroScale(range) {
+        return range !== 0 ? maxGyroRange / range / 32767 : 1 / 32767;
+    }
+    function accelScale(range) {
+        return range !== 0 ? maxAccelRange / range / 32767 : 1 / 32767;
+    }
+    return {
+        gyroPitch: { bias: cal.gyro.pitch.bias, scale: gyroScale(pitchRange) },
+        gyroYaw: { bias: cal.gyro.yaw.bias, scale: gyroScale(yawRange) },
+        gyroRoll: { bias: cal.gyro.roll.bias, scale: gyroScale(rollRange) },
+        accelX: {
+            bias: (cal.accel.x.plus + cal.accel.x.minus) / 2,
+            scale: accelScale(xRange),
+        },
+        accelY: {
+            bias: (cal.accel.y.plus + cal.accel.y.minus) / 2,
+            scale: accelScale(yRange),
+        },
+        accelZ: {
+            bias: (cal.accel.z.plus + cal.accel.z.minus) / 2,
+            scale: accelScale(zRange),
+        },
+    };
+}
+// ---------------------------------------------------------------------------
+// Reading from device
+// ---------------------------------------------------------------------------
+/**
+ * Read and parse IMU calibration from a connected controller.
+ * Returns undefined if the report cannot be read.
+ */
+async function readIMUCalibration(provider) {
+    try {
+        const buf = await provider.readFeatureReport(REPORT_ID, REPORT_LENGTH);
+        if (!buf || buf.length < 35)
+            return undefined;
+        return parseIMUCalibration(buf);
+    }
+    catch {
+        return undefined;
+    }
+}
+// ---------------------------------------------------------------------------
+// Per-sample helpers
+// ---------------------------------------------------------------------------
+/**
+ * Assemble two raw report bytes into a signed int16.
+ */
+function rawInt16(lo, hi) {
+    let v = (hi << 8) | lo;
+    if (v > 0x7fff)
+        v -= 0x10000;
+    return v;
+}
+/**
+ * Apply precomputed calibration to a single axis sample.
+ * `calibrated = clamp((raw − bias) × scale, −1, 1)`
+ */
+function applyCal(raw, factors) {
+    const v = (raw - factors.bias) * factors.scale;
+    return v > 1 ? 1 : v < -1 ? -1 : v;
+}
+//# sourceMappingURL=calibration.js.map

package/dist/hid/calibration.js.map ADDED Viewed

@@ -0,0 +1 @@

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package/dist/hid/dualsense_hid.d.ts CHANGED Viewed

@@ -2,6 +2,7 @@ import { PulseOptions, Brightness, MuteLedMode } from "./command";
 import { HIDProvider, DualsenseHIDState } from "./hid_provider";
 import { FirmwareInfo } from "./firmware_info";
 import { FactoryInfo } from "./factory_info";
+import type { ResolvedCalibration } from "./calibration";
 export type HIDCallback = (state: DualsenseHIDState) => void;
 export type ErrorCallback = (error: Error) => void;
 export type ReadyCallback = () => void;
@@ -33,6 +34,11 @@ export declare class DualsenseHID {
     factoryInfo: FactoryInfo;
     /** Bluetooth MAC address from Feature Report 0x09, populated after connection */
     macAddress?: string;
+    /**
+     * Precomputed IMU calibration factors, populated during provider connection.
+     * Applied automatically to gyro and accelerometer readings in each input report.
+     */
+    get calibration(): ResolvedCalibration;
     /** Active interval timer for the command flush loop */
     private commandTimer?;
     constructor(provider: HIDProvider, refreshRate?: number);

package/dist/hid/dualsense_hid.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/hid/dualsense_hid.js CHANGED Viewed

@@ -11,6 +11,13 @@ const SCOPE_A = 1;
 const SCOPE_B = 2;
 /** Coordinates a HIDProvider and tracks the latest HID state */
 class DualsenseHID {
+    /**
+     * Precomputed IMU calibration factors, populated during provider connection.
+     * Applied automatically to gyro and accelerometer readings in each input report.
+     */
+    get calibration() {
+        return this.provider.calibration;
+    }
     constructor(provider, refreshRate = 30) {
         this.provider = provider;
         /** Subscribers waiting for HID state updates */

package/dist/hid/dualsense_hid.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/dist/hid/hid_provider.d.ts CHANGED Viewed

@@ -2,6 +2,7 @@ import type { HID } from "node-hid";
 import { InputId } from "../id";
 import { ByteArray } from "./byte_array";
 import { ChargeStatus } from "./battery_state";
+import { ResolvedCalibration } from "./calibration";
 export * from "../id";
 /** Maps a HID input of 0...n to -1...1 */
 export declare function mapAxis(value: number, max?: number): number;
@@ -121,6 +122,8 @@ export declare abstract class HIDProvider {
     abstract sendFeatureReport(reportId: number, data: Uint8Array): Promise<void>;
     /** If true, gyroscope, touchpad, accelerometer are disabled */
     limited?: boolean;
+    /** Precomputed IMU calibration factors, applied during report processing */
+    calibration: ResolvedCalibration;
     /**
      * Sselects the correct method for reading the report.
      * @param buffer HID report buffer

package/dist/hid/hid_provider.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/hid/hid_provider.js CHANGED Viewed

@@ -21,6 +21,7 @@ exports.mapBatteryLevel = mapBatteryLevel;
 exports.mapGyroAccel = mapGyroAccel;
 const id_1 = require("../id");
 const battery_state_1 = require("./battery_state");
+const calibration_1 = require("./calibration");
 __exportStar(require("../id"), exports);
 /** Maps a HID input of 0...n to -1...1 */
 function mapAxis(value, max = 255) {
@@ -105,6 +106,8 @@ class HIDProvider {
         this.onConnect = () => { };
         /** Callback fired the moment a device detaches (cleanly or via error) */
         this.onDisconnect = () => { };
+        /** Precomputed IMU calibration factors, applied during report processing */
+        this.calibration = calibration_1.DefaultResolvedCalibration;
     }
     /**
      * Sselects the correct method for reading the report.
@@ -137,6 +140,7 @@ class HIDProvider {
         this.wireless = undefined;
         this.buffer = undefined;
         this.limited = undefined;
+        this.calibration = calibration_1.DefaultResolvedCalibration;
         this.deviceId = undefined;
         this.serialNumber = undefined;
         this.onData(exports.DefaultDualsenseHIDState);
@@ -225,12 +229,12 @@ class HIDProvider {
             [id_1.InputId.Playstation]: (lastButtons & 1) > 0,
             [id_1.InputId.TouchButton]: (lastButtons & 2) > 0,
             [id_1.InputId.Mute]: (lastButtons & 4) > 0,
-            [id_1.InputId.GyroX]: mapGyroAccel(buffer.readUint8(17), buffer.readUint8(18)),
-            [id_1.InputId.GyroY]: mapGyroAccel(buffer.readUint8(19), buffer.readUint8(20)),
-            [id_1.InputId.GyroZ]: mapGyroAccel(buffer.readUint8(21), buffer.readUint8(22)),
-            [id_1.InputId.AccelX]: mapGyroAccel(buffer.readUint8(23), buffer.readUint8(24)),
-            [id_1.InputId.AccelY]: mapGyroAccel(buffer.readUint8(25), buffer.readUint8(26)),
-            [id_1.InputId.AccelZ]: mapGyroAccel(buffer.readUint8(27), buffer.readUint8(28)),
+            [id_1.InputId.GyroX]: (0, calibration_1.applyCal)((0, calibration_1.rawInt16)(buffer.readUint8(17), buffer.readUint8(18)), this.calibration.gyroPitch),
+            [id_1.InputId.GyroY]: (0, calibration_1.applyCal)((0, calibration_1.rawInt16)(buffer.readUint8(19), buffer.readUint8(20)), this.calibration.gyroYaw),
+            [id_1.InputId.GyroZ]: (0, calibration_1.applyCal)((0, calibration_1.rawInt16)(buffer.readUint8(21), buffer.readUint8(22)), this.calibration.gyroRoll),
+            [id_1.InputId.AccelX]: (0, calibration_1.applyCal)((0, calibration_1.rawInt16)(buffer.readUint8(23), buffer.readUint8(24)), this.calibration.accelX),
+            [id_1.InputId.AccelY]: (0, calibration_1.applyCal)((0, calibration_1.rawInt16)(buffer.readUint8(25), buffer.readUint8(26)), this.calibration.accelY),
+            [id_1.InputId.AccelZ]: (0, calibration_1.applyCal)((0, calibration_1.rawInt16)(buffer.readUint8(27), buffer.readUint8(28)), this.calibration.accelZ),
             [id_1.InputId.SensorTimestamp]: buffer.readUint32LE(29),
             [id_1.InputId.TouchId0]: buffer.readUint8(34) & 0x7f,
             [id_1.InputId.TouchContact0]: (buffer.readUint8(34) & 0x80) === 0,
@@ -288,12 +292,12 @@ class HIDProvider {
             [id_1.InputId.Mute]: (lastButtons & 4) > 0,
             // The other 5 bits are unused
             // 5 reserved bytes
-            [id_1.InputId.GyroX]: mapGyroAccel(buffer.readUint8(16), buffer.readUint8(17)),
-            [id_1.InputId.GyroY]: mapGyroAccel(buffer.readUint8(18), buffer.readUint8(19)),
-            [id_1.InputId.GyroZ]: mapGyroAccel(buffer.readUint8(20), buffer.readUint8(21)),
-            [id_1.InputId.AccelX]: mapGyroAccel(buffer.readUint8(22), buffer.readUint8(23)),
-            [id_1.InputId.AccelY]: mapGyroAccel(buffer.readUint8(24), buffer.readUint8(25)),
-            [id_1.InputId.AccelZ]: mapGyroAccel(buffer.readUint8(26), buffer.readUint8(27)),
+            [id_1.InputId.GyroX]: (0, calibration_1.applyCal)((0, calibration_1.rawInt16)(buffer.readUint8(16), buffer.readUint8(17)), this.calibration.gyroPitch),
+            [id_1.InputId.GyroY]: (0, calibration_1.applyCal)((0, calibration_1.rawInt16)(buffer.readUint8(18), buffer.readUint8(19)), this.calibration.gyroYaw),
+            [id_1.InputId.GyroZ]: (0, calibration_1.applyCal)((0, calibration_1.rawInt16)(buffer.readUint8(20), buffer.readUint8(21)), this.calibration.gyroRoll),
+            [id_1.InputId.AccelX]: (0, calibration_1.applyCal)((0, calibration_1.rawInt16)(buffer.readUint8(22), buffer.readUint8(23)), this.calibration.accelX),
+            [id_1.InputId.AccelY]: (0, calibration_1.applyCal)((0, calibration_1.rawInt16)(buffer.readUint8(24), buffer.readUint8(25)), this.calibration.accelY),
+            [id_1.InputId.AccelZ]: (0, calibration_1.applyCal)((0, calibration_1.rawInt16)(buffer.readUint8(26), buffer.readUint8(27)), this.calibration.accelZ),
             [id_1.InputId.SensorTimestamp]: buffer.readUint32LE(28),
             // 1 reserved byte
             [id_1.InputId.TouchId0]: buffer.readUint8(33) & 0x7f,

package/dist/hid/hid_provider.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/dist/hid/index.d.ts CHANGED Viewed

@@ -4,6 +4,7 @@
 export * from "./battery_state";
 export * from "./bt_checksum";
 export * from "./byte_array";
+export * from "./calibration";
 export * from "./command";
 export * from "./dsp";
 export * from "./dualsense_hid";

package/dist/hid/index.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../src/hid/index.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,cAAc,iBAAiB,CAAC;AAChC,cAAc,eAAe,CAAC;AAC9B,cAAc,cAAc,CAAC;AAC7B,cAAc,WAAW,CAAC;AAC1B,cAAc,OAAO,CAAC;AACtB,cAAc,iBAAiB,CAAC;AAChC,cAAc,gBAAgB,CAAC;AAC/B,cAAc,iBAAiB,CAAC;AAChC,cAAc,gBAAgB,CAAC;AAC/B,cAAc,qBAAqB,CAAC;AACpC,cAAc,qBAAqB,CAAC;AACpC,cAAc,gBAAgB,CAAC;AAC/B,cAAc,yBAAyB,CAAC;AACxC,cAAc,oBAAoB,CAAC"}
1	+ {"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../src/hid/index.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,cAAc,iBAAiB,CAAC;AAChC,cAAc,eAAe,CAAC;AAC9B,cAAc,cAAc,CAAC;AAC7B,cAAc,eAAe,CAAC;AAC9B,cAAc,WAAW,CAAC;AAC1B,cAAc,OAAO,CAAC;AACtB,cAAc,iBAAiB,CAAC;AAChC,cAAc,gBAAgB,CAAC;AAC/B,cAAc,iBAAiB,CAAC;AAChC,cAAc,gBAAgB,CAAC;AAC/B,cAAc,qBAAqB,CAAC;AACpC,cAAc,qBAAqB,CAAC;AACpC,cAAc,gBAAgB,CAAC;AAC/B,cAAc,yBAAyB,CAAC;AACxC,cAAc,oBAAoB,CAAC"}

package/dist/hid/index.js CHANGED Viewed

@@ -20,6 +20,7 @@ Object.defineProperty(exports, "__esModule", { value: true });
 __exportStar(require("./battery_state"), exports);
 __exportStar(require("./bt_checksum"), exports);
 __exportStar(require("./byte_array"), exports);
+__exportStar(require("./calibration"), exports);
 __exportStar(require("./command"), exports);
 __exportStar(require("./dsp"), exports);
 __exportStar(require("./dualsense_hid"), exports);

package/dist/hid/index.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"index.js","sourceRoot":"","sources":["../../src/hid/index.ts"],"names":[],"mappings":";AAAA;;GAEG;;;;;;;;;;;;;;;;AAEH,kDAAgC;AAChC,gDAA8B;AAC9B,+CAA6B;AAC7B,4CAA0B;AAC1B,wCAAsB;AACtB,kDAAgC;AAChC,iDAA+B;AAC/B,kDAAgC;AAChC,iDAA+B;AAC/B,sDAAoC;AACpC,sDAAoC;AACpC,iDAA+B;AAC/B,0DAAwC;AACxC,qDAAmC"}
1	+ {"version":3,"file":"index.js","sourceRoot":"","sources":["../../src/hid/index.ts"],"names":[],"mappings":";AAAA;;GAEG;;;;;;;;;;;;;;;;AAEH,kDAAgC;AAChC,gDAA8B;AAC9B,+CAA6B;AAC7B,gDAA8B;AAC9B,4CAA0B;AAC1B,wCAAsB;AACtB,kDAAgC;AAChC,iDAA+B;AAC/B,kDAAgC;AAChC,iDAA+B;AAC/B,sDAAoC;AACpC,sDAAoC;AACpC,iDAA+B;AAC/B,0DAAwC;AACxC,qDAAmC"}

package/dist/hid/node_hid_provider.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"node_hid_provider.d.ts","sourceRoot":"","sources":["../../src/hid/node_hid_provider.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,GAAG,EAAU,MAAM,UAAU,CAAC;AAE5C,OAAO,EAAE,WAAW,EAAE,iBAAiB,EAAE,mBAAmB,EAAE,MAAM,gBAAgB,CAAC;~~AAGrF~~,MAAM,WAAW,sBAAsB;IACrC,uDAAuD;IACvD,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB,gFAAgF;IAChF,YAAY,CAAC,EAAE,MAAM,CAAC;CACvB;AAED,qBAAa,eAAgB,SAAQ,WAAW;IACvC,MAAM,CAAC,EAAE,GAAG,CAAC;IACb,QAAQ,CAAC,EAAE,OAAO,CAAC;IACnB,MAAM,CAAC,EAAE,MAAM,CAAC;IAEvB,OAAO,CAAC,UAAU,CAAS;IAC3B,mFAAmF;IAC5E,UAAU,CAAC,EAAE,MAAM,CAAC;IAC3B,gEAAgE;IACzD,YAAY,CAAC,EAAE,MAAM,CAAC;gBAEjB,OAAO,GAAE,sBAA2B;IAMhD,+CAA+C;WAClC,SAAS,IAAI,OAAO,CAAC,mBAAmB,EAAE,CAAC;IAsBlD,OAAO,IAAI,OAAO,CAAC,IAAI,CAAC;~~IA8F9B~~,KAAK,CAAC,IAAI,EAAE,UAAU,GAAG,OAAO,CAAC,IAAI,CAAC;IAMtC,iBAAiB,CAAC,QAAQ,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,GAAG,OAAO,CAAC,UAAU,CAAC;IAMxE,iBAAiB,CAAC,SAAS,EAAE,MAAM,EAAE,IAAI,EAAE,UAAU,GAAG,OAAO,CAAC,IAAI,CAAC;IAyBrE,IAAI,SAAS,IAAI,OAAO,CAEvB;IAED,UAAU,IAAI,IAAI;IAQlB,OAAO,CAAC,MAAM,EAAE,MAAM,GAAG,iBAAiB;CAe3C"}
1	+ {"version":3,"file":"node_hid_provider.d.ts","sourceRoot":"","sources":["../../src/hid/node_hid_provider.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,GAAG,EAAU,MAAM,UAAU,CAAC;AAE5C,OAAO,EAAE,WAAW,EAAE,iBAAiB,EAAE,mBAAmB,EAAE,MAAM,gBAAgB,CAAC;AAIrF,MAAM,WAAW,sBAAsB;IACrC,uDAAuD;IACvD,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB,gFAAgF;IAChF,YAAY,CAAC,EAAE,MAAM,CAAC;CACvB;AAED,qBAAa,eAAgB,SAAQ,WAAW;IACvC,MAAM,CAAC,EAAE,GAAG,CAAC;IACb,QAAQ,CAAC,EAAE,OAAO,CAAC;IACnB,MAAM,CAAC,EAAE,MAAM,CAAC;IAEvB,OAAO,CAAC,UAAU,CAAS;IAC3B,mFAAmF;IAC5E,UAAU,CAAC,EAAE,MAAM,CAAC;IAC3B,gEAAgE;IACzD,YAAY,CAAC,EAAE,MAAM,CAAC;gBAEjB,OAAO,GAAE,sBAA2B;IAMhD,+CAA+C;WAClC,SAAS,IAAI,OAAO,CAAC,mBAAmB,EAAE,CAAC;IAsBlD,OAAO,IAAI,OAAO,CAAC,IAAI,CAAC;IAiG9B,KAAK,CAAC,IAAI,EAAE,UAAU,GAAG,OAAO,CAAC,IAAI,CAAC;IAMtC,iBAAiB,CAAC,QAAQ,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,GAAG,OAAO,CAAC,UAAU,CAAC;IAMxE,iBAAiB,CAAC,SAAS,EAAE,MAAM,EAAE,IAAI,EAAE,UAAU,GAAG,OAAO,CAAC,IAAI,CAAC;IAyBrE,IAAI,SAAS,IAAI,OAAO,CAEvB;IAED,UAAU,IAAI,IAAI;IAQlB,OAAO,CAAC,MAAM,EAAE,MAAM,GAAG,iBAAiB;CAe3C"}

package/dist/hid/node_hid_provider.js CHANGED Viewed

@@ -3,6 +3,7 @@ Object.defineProperty(exports, "__esModule", { value: true });
 exports.NodeHIDProvider = void 0;
 const hid_provider_1 = require("./hid_provider");
 const bt_checksum_1 = require("./bt_checksum");
+const calibration_1 = require("./calibration");
 class NodeHIDProvider extends hid_provider_1.HIDProvider {
     constructor(options = {}) {
         super();
@@ -73,8 +74,12 @@ class NodeHIDProvider extends hid_provider_1.HIDProvider {
             this.deviceId = target.path;
             this.serialNumber = target.serialNumber ?? undefined;
             hid_provider_1.HIDProvider.claimedDevices.add(target.path);
-            // Enable accelerometer, gyro, touchpad
-            device.getFeatureReport(0x05, 41);
+            // Enable accelerometer, gyro, touchpad — and capture IMU calibration
+            const calBuf = device.getFeatureReport(0x05, 41);
+            try {
+                this.calibration = (0, calibration_1.resolveCalibration)((0, calibration_1.parseIMUCalibration)(new Uint8Array(calBuf)));
+            }
+            catch { /* use default calibration */ }
             device.on("data", (arg) => {
                 this.buffer = arg;
                 this.onData(this.process(arg));

package/dist/hid/node_hid_provider.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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1	+ 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package/dist/hid/web_hid_provider.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"web_hid_provider.d.ts","sourceRoot":"","sources":["../../src/hid/web_hid_provider.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,WAAW,EAAE,iBAAiB,EAAE,MAAM,gBAAgB,CAAC;~~AAGhE~~,MAAM,WAAW,qBAAqB;IACpC,mEAAmE;IACnE,MAAM,CAAC,EAAE,SAAS,CAAC;CACpB;AAED,iFAAiF;AACjF,MAAM,MAAM,oBAAoB,GAAG,CAAC,MAAM,EAAE,SAAS,KAAK,IAAI,CAAC;AAE/D,qBAAa,cAAe,SAAQ,WAAW;IACtC,MAAM,CAAC,EAAE,SAAS,CAAC;IACnB,QAAQ,CAAC,EAAE,OAAO,CAAC;IACnB,MAAM,CAAC,EAAE,QAAQ,CAAC;IAEzB,OAAO,CAAC,QAAQ,CAAC,YAAY,CAAC,CAAY;gBAE9B,OAAO,GAAE,qBAA0B;IAuB/C;;;;OAIG;IACH,oBAAoB,IAAI,IAAI;IAmC5B,0DAA0D;IAC1D,OAAO,CAAC,MAAM,CAAC,SAAS;IAWxB,MAAM,CAAC,MAAM,EAAE,SAAS,GAAG,IAAI;~~IA2B~~/B;;;;;;;;OAQG;IACH,aAAa,CAAC,MAAM,EAAE,SAAS,GAAG,IAAI;IActC;;;;OAIG;IACH,UAAU,IAAI,MAAM,OAAO,CAAC,OAAO,CAAC;IAwBpC;;;;OAIG;IACH,MAAM,CAAC,eAAe,CACpB,QAAQ,EAAE,oBAAoB,EAC9B,OAAO,CAAC,EAAE,CAAC,KAAK,EAAE,KAAK,KAAK,IAAI,GAC/B,MAAM,OAAO,CAAC,IAAI,CAAC;IAqBtB,+CAA+C;WAClC,SAAS,IAAI,OAAO,CAAC,SAAS,EAAE,CAAC;IAS9C,OAAO,IAAI,IAAI;IAIf,IAAI,SAAS,IAAI,OAAO,CAEvB;IAED,UAAU,IAAI,IAAI;IAcZ,iBAAiB,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAAC,UAAU,CAAC;IAMxD,iBAAiB,CAAC,QAAQ,EAAE,MAAM,EAAE,IAAI,EAAE,UAAU,GAAG,OAAO,CAAC,IAAI,CAAC;IA8B1E,mFAAmF;IACnF,OAAO,CAAC,sBAAsB;IAcxB,KAAK,CAAC,IAAI,EAAE,UAAU,GAAG,OAAO,CAAC,IAAI,CAAC;IAO5C,OAAO,CAAC,EACN,QAAQ,EACR,MAAM,GACP,EAAE;QACD,QAAQ,EAAE,MAAM,CAAC;QACjB,MAAM,EAAE,QAAQ,CAAC;KAClB,GAAG,iBAAiB;CAqBtB"}
1	+ {"version":3,"file":"web_hid_provider.d.ts","sourceRoot":"","sources":["../../src/hid/web_hid_provider.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,WAAW,EAAE,iBAAiB,EAAE,MAAM,gBAAgB,CAAC;AAIhE,MAAM,WAAW,qBAAqB;IACpC,mEAAmE;IACnE,MAAM,CAAC,EAAE,SAAS,CAAC;CACpB;AAED,iFAAiF;AACjF,MAAM,MAAM,oBAAoB,GAAG,CAAC,MAAM,EAAE,SAAS,KAAK,IAAI,CAAC;AAE/D,qBAAa,cAAe,SAAQ,WAAW;IACtC,MAAM,CAAC,EAAE,SAAS,CAAC;IACnB,QAAQ,CAAC,EAAE,OAAO,CAAC;IACnB,MAAM,CAAC,EAAE,QAAQ,CAAC;IAEzB,OAAO,CAAC,QAAQ,CAAC,YAAY,CAAC,CAAY;gBAE9B,OAAO,GAAE,qBAA0B;IAuB/C;;;;OAIG;IACH,oBAAoB,IAAI,IAAI;IAmC5B,0DAA0D;IAC1D,OAAO,CAAC,MAAM,CAAC,SAAS;IAWxB,MAAM,CAAC,MAAM,EAAE,SAAS,GAAG,IAAI;IA+B/B;;;;;;;;OAQG;IACH,aAAa,CAAC,MAAM,EAAE,SAAS,GAAG,IAAI;IActC;;;;OAIG;IACH,UAAU,IAAI,MAAM,OAAO,CAAC,OAAO,CAAC;IAwBpC;;;;OAIG;IACH,MAAM,CAAC,eAAe,CACpB,QAAQ,EAAE,oBAAoB,EAC9B,OAAO,CAAC,EAAE,CAAC,KAAK,EAAE,KAAK,KAAK,IAAI,GAC/B,MAAM,OAAO,CAAC,IAAI,CAAC;IAqBtB,+CAA+C;WAClC,SAAS,IAAI,OAAO,CAAC,SAAS,EAAE,CAAC;IAS9C,OAAO,IAAI,IAAI;IAIf,IAAI,SAAS,IAAI,OAAO,CAEvB;IAED,UAAU,IAAI,IAAI;IAcZ,iBAAiB,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO,CAAC,UAAU,CAAC;IAMxD,iBAAiB,CAAC,QAAQ,EAAE,MAAM,EAAE,IAAI,EAAE,UAAU,GAAG,OAAO,CAAC,IAAI,CAAC;IA8B1E,mFAAmF;IACnF,OAAO,CAAC,sBAAsB;IAcxB,KAAK,CAAC,IAAI,EAAE,UAAU,GAAG,OAAO,CAAC,IAAI,CAAC;IAO5C,OAAO,CAAC,EACN,QAAQ,EACR,MAAM,GACP,EAAE;QACD,QAAQ,EAAE,MAAM,CAAC;QACjB,MAAM,EAAE,QAAQ,CAAC;KAClB,GAAG,iBAAiB;CAqBtB"}

package/dist/hid/web_hid_provider.js CHANGED Viewed

@@ -3,6 +3,7 @@ Object.defineProperty(exports, "__esModule", { value: true });
 exports.WebHIDProvider = void 0;
 const hid_provider_1 = require("./hid_provider");
 const bt_checksum_1 = require("./bt_checksum");
+const calibration_1 = require("./calibration");
 class WebHIDProvider extends hid_provider_1.HIDProvider {
     constructor(options = {}) {
         super();
@@ -73,10 +74,15 @@ class WebHIDProvider extends hid_provider_1.HIDProvider {
             this.device = device;
             this.deviceId = key;
             this.detectConnectionType();
-            // Enable accelerometer, gyro, touchpad
+            // Enable accelerometer, gyro, touchpad — and capture IMU calibration
             return this.device.receiveFeatureReport(0x05);
         })
-            .then(() => {
+            .then((calView) => {
+            try {
+                const calBuf = new Uint8Array(calView.buffer, calView.byteOffset, calView.byteLength);
+                this.calibration = (0, calibration_1.resolveCalibration)((0, calibration_1.parseIMUCalibration)(calBuf));
+            }
+            catch { /* use default calibration */ }
             if (!this.device)
                 throw Error("Controller disconnected before setup");
             this.device.addEventListener("inputreport", ({ reportId, data }) => {

package/dist/hid/web_hid_provider.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "dualsense-ts",
-  "version": "6.11.0",
+  "version": "6.12.0",
   "description": "The natural interface for your DualSense controller, with Typescript",
   "keywords": [
     "dualsense",