I've found no good proof (beyond reWASD manual saying so [edit: reWASD explained that it's firmware related and considers adding support now]) that Flydigi controllers report only two axes outside of Switch emulation mode and decided to take a closer look. What I've found out is that at least with Vader 3 Pro IMU data for all 6 axes (gyroscope and accelerometer) is being reported.
- Gyro Demo -- it's simple, so no attempts at sensor fusion / fighting drift
- HID input report analyzer - tool I've thrown together to help me figure out message format, allows to select some byte and plot its value over time, so you could make sense of it; could be used to measure real Gyro/Accel/etc refresh rate (how often actual new values are reported); based on webhid-explorer.
Update rate is 1000Hz when using dongle, 500Hz when wired (no idea why, but yes)
Gyroscope updates at exactly 100Hz and accelerometer updates in ~50-53Hz range
Accelerometer seems to self-calibrate to 1G corresponding to 4096 value whenever gamepad is left untouched for few seconds on hard surface; not sure if it's just my unit, but Y axis behaves strangely in comparasion.
Vader 3 Pro DInput HID report format
| bytes | format | range | comment |
|---|---|---|---|
| 0-1 | seems to be completely static | ||
| 2 | first bit starts flipping at constant rate when aeromouse is enabled | ||
| 3 | int8 | [-512, 512] | gyro yaw 8 least significant bits |
| 4 | first 4 bits: gyro pitch LSB, last 4 bits: gyro yaw MSB; combine with bytes 3 and 5 for 12-bit signed integer value | ||
| 5 | int8 | [-512, 512] | gyro pitch 8 most significant bits |
| 6 | flags | 00, M4, M3, M2, M1, Z, C | |
| 7 | flags | 0000, HOME, 00, aeromouse/screenshot button | |
| 8 | flags | X, SELECT, B, A, LEFT, DOWN, RIGHT, UP | |
| 9 | flags | RS, LS, RT, LT, RB, LB, START, Y | |
| 10-11 | int16le | [-32768, 32767] | accelerometer, X-axis, 4096 is 1G |
| 12-13 | int16le | [-32768, 32767] | accelerometer, Y-axis, -4800 (?) is about 1G in normal orientation, 3800 triggers facing floor |
| 14-15 | int16le | [-32768, 32767] | accelerometer, Z-axis, 4096 is 1G |
| 16 | int8 | right stick X-axis | |
| 17 and 19 | int16le | [-512, 512] | gyro yaw (discontinuous bytes) |
| 18 | int8 | right stick Y-axis | |
| 20 | int8 | left stick X-axis | |
| 21 | int8 | left stick Y-axis | |
| 22 | uint8 | left trigger analog | |
| 23 | uint8 | right trigger analog | |
| 24 | flags | last two bits are flags for triggers in digital mode, reported only if triggers are in discrete/short press mode | |
| 25 | int16le | [-512, 512] | gyro pitch |
| 27 | seems to be completely static | ||
| 28 | int16le | [-32768, 32767] | gyro roll |