dualsense-ts 6.11.0 → 6.13.0

package/CHANGELOG.md

@@ -2,6 +2,23 @@
 
 All notable changes to `dualsense-ts` are documented here. This project uses [Semantic Versioning](https://semver.org/).
 
+## [6.13.0] - 2026-04-13
+
+### Added
+
+- **Orientation tracking**: `controller.orientation` provides fused 3D orientation (pitch, yaw, roll, quaternion) via a zero-dependency Madgwick AHRS filter, plus accelerometer-only `tiltPitch`/`tiltRoll` for drift-free gravity-reference applications. Filter gain (`beta`) is tunable at runtime
+- **Shake detection**: `controller.shake` detects shake intensity, frequency, and active state using per-axis Goertzel frequency analysis on first-difference signals. Reports both `frequency` (reversal rate) and `fundamental` (oscillation frequency), with a live `spectrum` of frequency bin powers. Configurable `threshold`, `windowSize`, `sustain`, `freqStep`, `freqMin`, and `freqMax` — all tunable at runtime
+- Axis remapping from DualSense Y-up to Madgwick Z-up convention for correct symmetric tilt behavior
+- Zero-gradient guard in the Madgwick filter to prevent NaN when gravity is already aligned
+- New `motion/` module: `Orientation`, `ShakeDetector`, `MadgwickFilter`, quaternion math — all zero-dependency
+
+## [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

@@ -2,7 +2,7 @@
 
 `dualsense-ts` is the natural interface for your DualSense controller. Simple to use, fully-typed, fully-featured, and supports wired and wireless connections in both node.js and the browser.
 
-Check out the **[interactive docs](https://nsfm.github.io/dualsense-ts/)**! Connect a controller and try every feature with live demos, or explore the [playground](https://nsfm.github.io/dualsense-ts/playground).
+Check out the **[interactive docs](https://nsfm.github.io/dualsense-ts/)**! Connect a controller (or a few!) and try every feature with live demos. Or, explore the [playground](https://nsfm.github.io/dualsense-ts/playground) to check all of your controller functionality in one place.
 
 ## Features
 
@@ -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, with built-in [orientation tracking](https://nsfm.github.io/dualsense-ts/api/orientation) and [shake detection](https://nsfm.github.io/dualsense-ts/api/shake-detector)
 - **[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:
+Raw values from the controller's 6-axis IMU are provided:
 
 ```typescript
 controller.gyroscope.on("change", ({ x, y, z }) => {
@@ -196,7 +196,56 @@ 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.
+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.
+
+#### [Orientation Tracking](https://nsfm.github.io/dualsense-ts/api/orientation)
+
+Built-in sensor fusion provides a stable 3D orientation from the raw IMU data, powered by a zero-dependency [Madgwick AHRS](https://nsfm.github.io/dualsense-ts/api/orientation) filter:
+
+```typescript
+// Fused Euler angles (radians), updated every IMU sample
+const { pitch, yaw, roll } = controller.orientation;
+
+// Quaternion for 3D rendering
+const [w, x, y, z] = controller.orientation.quaternion;
+
+// Accelerometer-only tilt — no drift, no yaw
+const steer = controller.orientation.tiltRoll;
+
+// Tune the filter: lower beta = smoother, higher = less drift
+controller.orientation.beta = 0.02;
+
+// Reset to identity (e.g. on button press)
+controller.orientation.reset();
+```
+
+#### [Shake Detection](https://nsfm.github.io/dualsense-ts/api/shake-detector)
+
+The built-in shake detector uses [Goertzel frequency analysis](https://nsfm.github.io/dualsense-ts/api/shake-detector) to detect shake intensity, frequency, and direction-reversal rate:
+
+```typescript
+// Simple shake detection
+if (controller.shake.active) {
+  triggerEffect();
+}
+
+// Proportional response
+controller.left.rumble = controller.shake.intensity;
+
+// Frequency-based mechanics
+if (controller.shake.frequency > 4) {
+  baby.soothe(controller.shake.intensity);
+}
+
+// Tune sensitivity and analysis window at runtime
+controller.shake.threshold = 0.05;
+controller.shake.windowSize = 128;
+
+// Access raw spectrum for custom visualization
+for (const bin of controller.shake.spectrum) {
+  drawBar(bin.freq, bin.power);
+}
+```
 
 #### [Battery](https://nsfm.github.io/dualsense-ts/inputs/battery)
 

package/dist/dualsense.d.ts

@@ -1,7 +1,8 @@
 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";
+import { Orientation, type OrientationParams, ShakeDetector, type ShakeDetectorParams } from "./motion";
 /** Settings for your Dualsense controller and each of its inputs */
 export interface DualsenseParams extends InputParams {
     /** Sets the source for HID events. Default: decide automatically */
@@ -36,6 +37,10 @@ export interface DualsenseParams extends InputParams {
     accelerometer?: AccelerometerParams;
     /** Settings for the battery */
     battery?: BatteryParams;
+    /** Settings for the orientation tracker (Madgwick AHRS) */
+    orientation?: OrientationParams;
+    /** Settings for the shake detector */
+    shake?: ShakeDetectorParams;
 }
 /** Represents a Dualsense controller */
 export declare class Dualsense extends Input<Dualsense> {
@@ -82,10 +87,24 @@ export declare class Dualsense extends Input<Dualsense> {
     readonly audio: Audio;
     /** Per-subsystem power save controls (disable touch, motion, haptics, audio) */
     readonly powerSave: PowerSaveControl;
+    /**
+     * Fused orientation from Madgwick AHRS sensor fusion.
+     * Provides pitch, yaw, roll (radians), quaternion, and
+     * accelerometer-only tilt. Updated automatically each HID report.
+     */
+    readonly orientation: Orientation;
+    /**
+     * Shake detector with frequency analysis.
+     * Provides intensity (0–1), dominant frequency (Hz), and an
+     * active flag. Updated automatically each HID report.
+     */
+    readonly shake: ShakeDetector;
     /** Monotonic sensor timestamp in microseconds from the controller's clock.
      *  Updated with each input report — useful for correlating motion sensor
      *  readings with other inputs across frames. Wraps at 2^32 (~71.6 minutes). */
     sensorTimestamp: number;
+    /** Previous sensor timestamp for computing dt (microseconds). */
+    private prevSensorTimestamp;
     /** Active interval timers, cleared on dispose */
     private readonly timers;
     /**
@@ -105,6 +124,12 @@ 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 */

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package/dist/dualsense.js

@@ -4,6 +4,7 @@ exports.Dualsense = void 0;
 const elements_1 = require("./elements");
 const input_1 = require("./input");
 const hid_1 = require("./hid");
+const motion_1 = require("./motion");
 /** Represents a Dualsense controller */
 class Dualsense extends input_1.Input {
     /**
@@ -20,6 +21,14 @@ 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);
@@ -54,6 +63,8 @@ class Dualsense extends input_1.Input {
          *  Updated with each input report — useful for correlating motion sensor
          *  readings with other inputs across frames. Wraps at 2^32 (~71.6 minutes). */
         this.sensorTimestamp = 0;
+        /** Previous sensor timestamp for computing dt (microseconds). */
+        this.prevSensorTimestamp = 0;
         /** Active interval timers, cleared on dispose */
         this.timers = [];
         /**
@@ -148,6 +159,8 @@ class Dualsense extends input_1.Input {
             name: "Battery",
             ...(params.battery ?? {}),
         });
+        this.orientation = new motion_1.Orientation(params.orientation);
+        this.shake = new motion_1.ShakeDetector(params.shake);
         this.connection[input_1.InputSet](false);
         // If a HID instance was supplied externally (e.g. by DualsenseManager),
         // the owner is responsible for driving discovery + reconnection.
@@ -189,6 +202,11 @@ class Dualsense extends input_1.Input {
                 if (audioMemo.userChanged)
                     audioMemo.key = "";
             }
+            // Reset motion helpers on both connect and disconnect so
+            // orientation doesn't carry stale state across sessions.
+            this.orientation.reset();
+            this.shake.reset();
+            this.prevSensorTimestamp = 0;
         });
         // Seed the initial state in case the provider was already attached.
         this.connection[input_1.InputSet](this.hid.provider.connected);
@@ -367,6 +385,28 @@ class Dualsense extends input_1.Input {
         this.accelerometer.x[input_1.InputSet](state[hid_1.InputId.AccelX]);
         this.accelerometer.y[input_1.InputSet](state[hid_1.InputId.AccelY]);
         this.accelerometer.z[input_1.InputSet](state[hid_1.InputId.AccelZ]);
+        // Compute dt from the controller's hardware clock (microseconds).
+        // The timestamp wraps at 2^32 (~71.6 minutes).
+        const ts = state[hid_1.InputId.SensorTimestamp];
+        if (this.prevSensorTimestamp !== 0 && ts !== 0) {
+            const dtMicro = ts >= this.prevSensorTimestamp
+                ? ts - this.prevSensorTimestamp
+                : 0xFFFFFFFF - this.prevSensorTimestamp + ts + 1;
+            const dt = dtMicro / 1000000;
+            // Sanity check: skip if dt is unreasonable (>0.5s means we
+            // probably missed reports or just reconnected).
+            if (dt > 0 && dt < 0.5) {
+                const gx = state[hid_1.InputId.GyroX];
+                const gy = state[hid_1.InputId.GyroY];
+                const gz = state[hid_1.InputId.GyroZ];
+                const ax = state[hid_1.InputId.AccelX];
+                const ay = state[hid_1.InputId.AccelY];
+                const az = state[hid_1.InputId.AccelZ];
+                this.orientation.update(gx, gy, gz, ax, ay, az, dt);
+                this.shake.update(ax, ay, az, dt);
+            }
+        }
+        this.prevSensorTimestamp = ts;
         const level = state[hid_1.InputId.BatteryLevel];
         if (level > this.pendingBattery.peakLevel) {
             this.pendingBattery.peakLevel = level;

package/dist/dualsense.js.map

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

@@ -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

@@ -0,0 +1 @@
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package/dist/hid/calibration.js

@@ -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

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package/dist/hid/dualsense_hid.d.ts

@@ -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);