From 9730882fe405e31cd4042d3556ee5dcc1b025ebb Mon Sep 17 00:00:00 2001
From: minenice55 <star.elementa@gmail.com>
Date: Thu, 2 Apr 2026 01:32:10 -0400
Subject: [PATCH 1/6] gyro calibration, spectator aiming using gyro

also moves all of the motion sensor stuff to g_input.c
---
 src/g_game.c   | 251 +++----------------------------------
 src/g_game.h   |  28 +----
 src/g_input.c  | 330 +++++++++++++++++++++++++++++++++++++++++++++++++
 src/g_input.h  |  29 +++++
 src/k_hud.c    |   1 +
 src/st_stuff.c |  21 ++--
 6 files changed, 387 insertions(+), 273 deletions(-)

diff --git a/src/g_game.c b/src/g_game.c
index 679a8d3d4..88672a4a6 100644
--- a/src/g_game.c
+++ b/src/g_game.c
@@ -51,7 +51,6 @@
 #include "m_cond.h" // condition sets
 #include "r_fps.h" // frame interpolation/uncapped
 #include "lua_hud.h"
-#include "m_easing.h"
 
 // SRB2kart
 #include "k_kart.h"
@@ -1404,235 +1403,6 @@ static void G_HandleAxisDeadZone(UINT8 splitnum, joystickvector2_t *joystickvect
 	}
 }
 
-// copy/pasted from the lua version of these routines
-inline static vector3_t *QuaternionMulVec3(vector3_t *out, vector3_t *a, vector4_t *b)
-{
-	fixed_t ax = a->x, ay = a->y, az = a->z, aw = 0;
-	fixed_t bx = b->x, by = b->y, bz = b->z, bw = b->a;
-
-	FV3_NormalizeEx(out, FV3_Load(out,
-		FixedMul(aw, bx) + FixedMul(ax, bw) + FixedMul(ay, bz) - FixedMul(az, by),
-		FixedMul(aw, by) - FixedMul(ax, bz) + FixedMul(ay, bw) + FixedMul(az, bx),
-		FixedMul(aw, bz) + FixedMul(ax, by) - FixedMul(ay, bx) + FixedMul(az, bw)
-	));
-
-	return out;
-}
-
-inline static fixed_t FV3_LengthSquared(const vector3_t *vec)
-{
-	return FixedMul(vec->x, vec->x) + FixedMul(vec->y, vec->y) + FixedMul(vec->z, vec->z);
-}
-
-inline static fixed_t FV3_Length(const vector3_t *vec)
-{
-	return FixedSqrt(FV3_LengthSquared(vec));
-}
-
-inline static vector4_t AngleAxis(fixed_t angle, fixed_t x, fixed_t y, fixed_t z)
-{
-	fixed_t sinangle = FINESINE(FixedAngle(angle/2) >> ANGLETOFINESHIFT);
-	fixed_t cosangle = FINECOSINE(FixedAngle(angle/2) >> ANGLETOFINESHIFT);
-	vector3_t axis = {x, y, z};
-	vector4_t result;
-
-	FV3_Normalize(&axis);
-
-	FV4_Load(&result,
-		FixedMul(axis.x, sinangle),
-		FixedMul(axis.y, sinangle),
-		FixedMul(axis.z, sinangle),
-		cosangle
-	);
-
-	return result;
-}
-
-// math sourced from this article
-// http://gyrowiki.jibbsmart.com/blog:finding-gravity-with-sensor-fusion
-// state
-fixed_t localshakinessfac[MAXSPLITSCREENPLAYERS];
-vector3_t localsmoothedaccel[MAXSPLITSCREENPLAYERS];
-vector3_t localgravityvectors[MAXSPLITSCREENPLAYERS];
-
-// the time it takes in our acceleration smoothing for 'A' to get halfway to 'B'
-#define SmoothingHalfTime (0.01)
-// thresholds of trust for accel shakiness. less shakiness = more trust
-#define ShakinessMaxThreshold (50*FRACUNIT/100)
-#define ShakinessMinThreshold (1*FRACUNIT/100)
-// when we trust the accel a lot (the controller is "still"), how quickly do we correct our gravity vector?
-#define CorrectionStillRate (FRACUNIT)
-// when we don't trust the accel (the controller is "shaky"), how quickly do we correct our gravity vector?
-#define CorrectionShakyRate (10*FRACUNIT/100)
-// if our old gravity vector is close enough to our new one, limit further corrections to this proportion of the rotation speed
-#define CorrectionGyroFactor (40*FRACUNIT/100)
-// thresholds for what's considered "close enough"
-#define CorrectionGyroMinThreshold (5*FRACUNIT/100)
-#define CorrectionGyroMaxThreshold (FRACUNIT/4)
-// no matter what, always apply a minimum of this much correction to our gravity vector
-#define CorrectionMinimumSpeed (1*FRACUNIT/100)
-
-// when holding the controller still (shaking and turning included), corrcet this quickly to resolve error
-#define CorrectionInstantRate (80*FRACUNIT/100)
-#define CorrectionInstantShake (4*FRACUNIT/100)
-#define CorrectionInstantTurn (5*FRACUNIT/100)
-
-void G_UpdateGamepadGravity(INT32 p, vector3_t gyro, vector3_t accel)
-{
-	// convert gyro input to reverse rotation
-	vector3_t invAccel = {-accel.x, -accel.y, -accel.z};
-	fixed_t correctionRate = 0;
-	// scaling is reversed, smaller time scales = larger steps in this code
-	// (1/timescale)/dt
-	fixed_t deltaseconds = FixedDiv(FRACUNIT, max(cv_timescale.value, FRACUNIT/20))/TICRATE;
-	// we don't have exp2 and we actually need it here to take timescale into account :(
-	fixed_t smoothFactor = FloatToFixed(exp2(-FixedToFloat(deltaseconds) / SmoothingHalfTime));
-	fixed_t angleRate;
-	fixed_t correctionLimit;
-	vector4_t invRotation = AngleAxis(
-		FixedMul(FV3_Length(&gyro), deltaseconds),
-		-gyro.x, 
-		-gyro.y, 
-		-gyro.z
-	);
-	vector3_t gravityDelta = {0};
-	vector3_t gravityDeltaDirection = {0};
-	vector3_t correction = {0};
-
-	if (!G_GetGamepadCanUseTilt(p)) return;
-	CONS_Debug(DBG_IMU, "= Update Gravity Delta Time: %4.3f =\n", FixedToFloat(deltaseconds));
-
-	// rotate gravity vector
-	QuaternionMulVec3(&localgravityvectors[p], &localgravityvectors[p], &invRotation);
-	QuaternionMulVec3(&localsmoothedaccel[p], &localsmoothedaccel[p], &invRotation);
-	localshakinessfac[p] = FixedMul(localshakinessfac[p], smoothFactor), 
-	FV3_SubEx(&accel, &localsmoothedaccel[p], &correction);
-	localshakinessfac[p] = max(localshakinessfac[p], FV3_Length(&correction));
-	FV3_Load(&localsmoothedaccel[p],
-		Easing_Linear(smoothFactor, accel.x, localsmoothedaccel[p].x),
-		Easing_Linear(smoothFactor, accel.y, localsmoothedaccel[p].y),
-		Easing_Linear(smoothFactor, accel.z, localsmoothedaccel[p].z)
-	);
-	
-	CONS_Debug(DBG_IMU, "Shakiness: %4.2f\n", FixedToFloat(localshakinessfac[p]));
-
-	FV3_SubEx(&invAccel, &localgravityvectors[p], &gravityDelta);
-	FV3_NormalizeEx(&gravityDelta, &gravityDeltaDirection);
-
-	if (ShakinessMaxThreshold > ShakinessMinThreshold)
-	{
-		fixed_t stillness = CLAMP(FixedDiv((localshakinessfac[p] - ShakinessMinThreshold), (ShakinessMaxThreshold - ShakinessMinThreshold)), 0, FRACUNIT);
-		correctionRate = CorrectionStillRate + FixedMul((CorrectionShakyRate - CorrectionStillRate), stillness);
-	}
-	else if (localshakinessfac[p] > ShakinessMaxThreshold)
-	{
-		correctionRate = CorrectionShakyRate;
-	}
-	else
-	{
-		correctionRate = CorrectionStillRate;
-	}
-
-	// limit in proportion to rotation rate
-	angleRate = FixedMul(FV3_Length(&gyro), M_PI_FIXED/180);
-	correctionLimit = max(FixedMul(FixedMul(angleRate, FV3_Length(&localgravityvectors[p])), CorrectionGyroFactor), CorrectionMinimumSpeed);
-
-	CONS_Debug(DBG_IMU, "Angle Rate: %4.3f\n", FixedToFloat(angleRate));
-	CONS_Debug(DBG_IMU, "Correction Limit: %4.3f\n", FixedToFloat(correctionLimit));
-
-	if (correctionRate > correctionLimit) {
-		fixed_t closeEnoughFactor;
-		if (CorrectionGyroMaxThreshold > CorrectionGyroMinThreshold)
-		{
-			closeEnoughFactor = CLAMP(FixedDiv((FV3_Length(&gravityDelta) - CorrectionGyroMinThreshold), (CorrectionGyroMaxThreshold - CorrectionGyroMinThreshold)), 0, FRACUNIT);
-		}
-		else if (FV3_Length(&gravityDelta) > CorrectionGyroMaxThreshold)
-		{
-			closeEnoughFactor = FRACUNIT;
-		}
-		else
-		{
-			closeEnoughFactor = 0;
-		}
-		
-		CONS_Debug(DBG_IMU, "'Close Enough' Fac: %4.3f\n", FixedToFloat(closeEnoughFactor));
-		correctionRate = correctionLimit + FixedMul((correctionRate - correctionLimit), closeEnoughFactor);
-	}
-
-	if (localshakinessfac[p] < CorrectionInstantShake && angleRate < CorrectionInstantTurn)
-	{
-		correctionRate = max(correctionRate, CorrectionInstantRate);
-	}
-
-	CONS_Debug(DBG_IMU, "Correction Rate: %4.2f\n", FixedToFloat(correctionRate));
-
-	FV3_Load(&correction,
-		FixedMul(gravityDelta.x, FixedMul(deltaseconds, correctionRate)),
-		FixedMul(gravityDelta.y, FixedMul(deltaseconds, correctionRate)),
-		FixedMul(gravityDelta.z, FixedMul(deltaseconds, correctionRate))
-	);
-	if ((FV3_LengthSquared(&correction) < FV3_LengthSquared(&gravityDelta)))
-	{
-		FV3_Add(&localgravityvectors[p], &correction);
-	}
-	else
-	{
-		FV3_Load(&localgravityvectors[p], invAccel.x, invAccel.y, invAccel.z);
-	}
-}
-
-INT32 G_GetGamepadTilt(INT32 p)
-{	
-	fixed_t tilt;
-	fixed_t curve;
-	if (!G_GetGamepadCanUseTilt(p)) return 0;
-	tilt = CLAMP(FixedDiv(G_GetGamepadGravity(p).x + MAXGAMEPADTILT, 2*MAXGAMEPADTILT), 0, FRACUNIT);
-	CONS_Debug(DBG_IMU, "Tilt: %4.2f\n", FixedToFloat(tilt));
-	
-	curve = FINESINE(FixedAngle(180*(tilt-FRACUNIT/2))>>ANGLETOFINESHIFT);
-	CONS_Debug(DBG_IMU, "Pinched Tilt: %4.2f\n", FixedToFloat(curve));
-	
-	return (JOYAXISRANGE * curve)/FRACUNIT;
-}
-
-vector3_t G_GetGamepadGravity(INT32 p)
-{
-	const vector3_t zero = {0, -ACCELEROMETERGRAVITY, 0};
-	if (!G_GetGamepadCanUseTilt(p)) return zero;
-	return localgravityvectors[p];
-}
-
-vector3_t G_GetGamepadShake(INT32 p)
-{
-	vector3_t accel = {0};
-	if (!G_GetGamepadCanUseTilt(p)) return accel;
-	accel = G_PlayerInputSensor(p, ACCELEROMETER);
-	FV3_Add(&accel, &localgravityvectors[p]);
-
-	return accel;
-}
-
-boolean G_GetGamepadCanUseTilt(INT32 p)
-{
-	if (p >= MAXSPLITSCREENPLAYERS)
-	{
-#ifdef PARANOIA
-		CONS_Debug(DBG_GAMELOGIC, "G_GetGamepadCanUseTilt: Invalid player ID %d\n", p);
-#endif
-		return false;
-	}
-
-	return (I_ControllerSupportsSensorAccelerometer(p) && I_ControllerSupportsSensorGyro(p));
-}
-#undef ShakinessMaxThreshold
-#undef ShakinessMinThreshold
-#undef CorrectionStillRate
-#undef CorrectionShakyRate
-#undef CorrectionGyroFactor
-#undef CorrectionGyroMinThreshold
-#undef CorrectionGyroMaxThreshold
-#undef CorrectionMinimumSpeed
-
 //
 // G_BuildTiccmd
 // Builds a ticcmd from all of the available inputs
@@ -1699,7 +1469,12 @@ void G_BuildTiccmd(ticcmd_t *cmd, INT32 realtics, UINT8 ssplayer)
 	{
 		vector3_t accel = G_PlayerInputSensor(forplayer, ACCELEROMETER);
 		vector3_t gyro = G_PlayerInputSensor(forplayer, GYROSCOPE);
-		G_UpdateGamepadGravity(forplayer, gyro, accel);
+
+		G_UpdateGamepadAutoCalibration(forplayer, accel, gyro,
+			(paused || P_AutoPause() || (menustack[0] == MN_OP_CONTROLSETUP)));
+
+		G_UpdateGamepadGyro(forplayer, gyro);
+		G_UpdateGamepadGravity(forplayer, G_GetGamepadCalibratedGyro(forplayer), accel);
 	}
 
 	// why build a ticcmd if we're paused?
@@ -1783,9 +1558,15 @@ void G_BuildTiccmd(ticcmd_t *cmd, INT32 realtics, UINT8 ssplayer)
 		side += (accelerometertilt * 4) / JOYAXISRANGE;
 
 		//todo: control spectator camera using the gyro
-		// if (spectating)
-		// {
-		// }
+		if (spectating)
+		{
+			fixed_t deltaseconds = FixedDiv(FRACUNIT, max(cv_timescale.value, FRACUNIT/20))/TICRATE;
+			vector3_t gyro = G_GetGamepadCalibratedGyro(forplayer);
+			cmd->turning -= (FixedMul(FixedMul(gyro.y, M_PI_FIXED/180), deltaseconds) * 1) * (encoremode ? -1 : 1);
+			cmd->angle -= (FixedMul(FixedMul(gyro.y, M_PI_FIXED/180), deltaseconds) * 1) * (encoremode ? -1 : 1);
+
+			cmd->aiming -= (FixedMul(FixedMul(gyro.x, M_PI_FIXED/180), deltaseconds) * 1);
+		}
 	}
 	else if (joystickvector.xaxis != 0)
 	{
@@ -2001,8 +1782,6 @@ void G_BuildTiccmd(ticcmd_t *cmd, INT32 realtics, UINT8 ssplayer)
 			if (abs(tilt) > MAXGAMEPADTILT)
 				cmd->flags |= TICCMD_EXCESSTILT;
 		}
-
-		CONS_Debug(DBG_IMU, "Shake: %4.2f\n", FixedToFloat(FV3_Length(&shake)));
 		//cmd->shake = CLAMP((GAMEPADSHAKETHRESHOLD*FV3_Length(&shake))/FRACUNIT, 0, UINT8_MAX);
 
 		//CONS_Debug(DBG_IMU, "CMD Tilt: %d, Shake: %d\n", cmd->tilt, cmd->shake);
diff --git a/src/g_game.h b/src/g_game.h
index 2b282b72a..dffc38507 100644
--- a/src/g_game.h
+++ b/src/g_game.h
@@ -121,6 +121,9 @@ mapnum_t G_LevelTitleToMapNum(const char * leveltitle);
 mapnum_t G_KartMapToNative(mapnum_t mapnum);
 mapnum_t G_NativeMapToKart(mapnum_t mapnum);
 
+#define GAMEPADSHAKETHRESHOLD (UINT8_MAX/2)
+#define TILTTOSTICKEASE 6
+
 void G_ResetAnglePrediction(player_t *player);
 void G_BuildTiccmd(ticcmd_t *cmd, INT32 realtics, UINT8 ssplayer);
 
@@ -137,31 +140,6 @@ void G_FinalClipAimingPitch(INT32 *aiming, player_t *player, boolean skybox);
 extern angle_t localangle[MAXSPLITSCREENPLAYERS];
 extern INT32 localaiming[MAXSPLITSCREENPLAYERS]; // should be an angle_t but signed
 
-typedef enum
-{
-	DEADZONE_X,
-	DEADZONE_Y,
-	DEADZONE_BUTTON,
-} analogdeadzone_e;
-
-typedef enum
-{
-	ACCELEROMETER,
-	GYROSCOPE,
-} motionsensortype_e;
-
-#define MAXGAMEPADTILT (50*FRACUNIT/100)
-// #define ACCELEROMETERGRAVITY ((fixed_t)(9.80665f * ((float)FRACUNIT)))
-#define ACCELEROMETERGRAVITY 642688
-#define GAMEPADSHAKETHRESHOLD (UINT8_MAX/2)
-#define TILTTOSTICKEASE 6
-boolean G_GetGamepadCanUseTilt(INT32 p);
-void G_UpdateGamepadGravity(INT32 p, vector3_t gyro, vector3_t accel);
-INT32 G_GetGamepadTilt(INT32 p);
-vector3_t G_GetGamepadShake(INT32 p);
-vector3_t G_GetGamepadGravity(INT32 p);
-vector3_t G_PlayerInputSensor(UINT8 p, motionsensortype_e sensor);
-
 fixed_t G_GetDeadZoneType(INT32 p, SINT8 type);
 INT32 G_PlayerInputAnalog(UINT8 p, INT32 gc, boolean digital, SINT8 type);
 boolean G_PlayerInputDown(UINT8 p, INT32 gc, boolean digital, SINT8 type);
diff --git a/src/g_input.c b/src/g_input.c
index 993679ed0..4e01a3bfa 100644
--- a/src/g_input.c
+++ b/src/g_input.c
@@ -26,6 +26,8 @@
 #include "v_video.h"
 #include "p_local.h"
 #include "k_kart.h"
+#include "m_fixed.h"
+#include "m_easing.h"
 
 #define MAXMOUSESENSITIVITY 100 // sensitivity steps
 
@@ -1226,3 +1228,331 @@ void Command_Setcontrol4_f(void)
 
 	setcontrol(3);
 }
+
+// accelerometer and gyro stuff
+
+// when holding the controller still (shaking and turning included), correct this quickly to resolve error
+#define GyroCalibrationTrust (1*FRACUNIT/100)
+
+#define CorrectionInstantRate (80*FRACUNIT/100)
+#define CorrectionInstantShake (4*FRACUNIT/100)
+#define CorrectionInstantTurn (5*FRACUNIT/100)
+
+boolean localgyrocalibrating[MAXSPLITSCREENPLAYERS];
+vector3_t localgyrovectors[MAXSPLITSCREENPLAYERS];
+
+vector3_t localgyrocalibrationoffset[MAXSPLITSCREENPLAYERS];
+
+// assume the accelerometer doesn't need calibration, use this to determine if gyro can be calibrated
+vector3_t localaccelcalibrationoffset[MAXSPLITSCREENPLAYERS];
+
+fixed_t localshakinessfac[MAXSPLITSCREENPLAYERS];
+vector3_t localsmoothedaccel[MAXSPLITSCREENPLAYERS];
+vector3_t localgravityvectors[MAXSPLITSCREENPLAYERS];
+
+// copy/pasted from the lua version of these routines
+inline static vector3_t *QuaternionMulVec3(vector3_t *out, vector3_t *a, vector4_t *b)
+{
+	fixed_t ax = a->x, ay = a->y, az = a->z, aw = 0;
+	fixed_t bx = b->x, by = b->y, bz = b->z, bw = b->a;
+
+	FV3_NormalizeEx(out, FV3_Load(out,
+		FixedMul(aw, bx) + FixedMul(ax, bw) + FixedMul(ay, bz) - FixedMul(az, by),
+		FixedMul(aw, by) - FixedMul(ax, bz) + FixedMul(ay, bw) + FixedMul(az, bx),
+		FixedMul(aw, bz) + FixedMul(ax, by) - FixedMul(ay, bx) + FixedMul(az, bw)
+	));
+
+	return out;
+}
+
+inline static fixed_t FV3_LengthSquared(const vector3_t *vec)
+{
+	return FixedMul(vec->x, vec->x) + FixedMul(vec->y, vec->y) + FixedMul(vec->z, vec->z);
+}
+
+inline static fixed_t FV3_Length(const vector3_t *vec)
+{
+	return FixedSqrt(FV3_LengthSquared(vec));
+}
+
+inline static vector4_t AngleAxis(fixed_t angle, fixed_t x, fixed_t y, fixed_t z)
+{
+	fixed_t sinangle = FINESINE(FixedAngle(angle/2) >> ANGLETOFINESHIFT);
+	fixed_t cosangle = FINECOSINE(FixedAngle(angle/2) >> ANGLETOFINESHIFT);
+	vector3_t axis = {x, y, z};
+	vector4_t result;
+
+	FV3_Normalize(&axis);
+
+	FV4_Load(&result,
+		FixedMul(axis.x, sinangle),
+		FixedMul(axis.y, sinangle),
+		FixedMul(axis.z, sinangle),
+		cosangle
+	);
+
+	return result;
+}
+
+vector3_t G_GetCalibratedGyroOffset(INT32 p)
+{
+	return localgyrocalibrationoffset[p];
+}
+
+void G_UpdateGamepadAutoCalibration(INT32 p, vector3_t accel, vector3_t gyro, boolean allowautocalibration)
+{
+	fixed_t trust = FV3_Distance(&localaccelcalibrationoffset[p], &accel);
+	FV3_Load(
+		&localaccelcalibrationoffset[p],
+		(localaccelcalibrationoffset[p].x + accel.x)/2,
+		(localaccelcalibrationoffset[p].y + accel.y)/2,
+		(localaccelcalibrationoffset[p].z + accel.z)/2
+	);
+
+	CONS_Debug(DBG_IMU, "== Gyro Update ==\n");
+	CONS_Debug(DBG_IMU, "Gyro calibration safety: %4.3f\n", FixedToFloat(trust));
+	if (allowautocalibration && (trust < GyroCalibrationTrust))
+	{
+		if (!localgyrocalibrating[p])
+		{
+			FV3_Load(
+				&localgyrocalibrationoffset[p],
+				0, 0, 0
+			);
+			localgyrocalibrating[p] = true;
+		}
+	}
+	else
+	{
+		localgyrocalibrating[p] = false;
+	}
+}
+
+void G_UpdateGamepadGyro(INT32 p, vector3_t gyro)
+{
+	vector3_t offset = {0};
+
+	if (p >= MAXSPLITSCREENPLAYERS)
+	{
+#ifdef PARANOIA
+		CONS_Debug(DBG_GAMELOGIC, "G_UpdateGamepadGyro: Invalid player ID %d\n", p);
+#endif
+		return;
+	}
+	if (!I_ControllerSupportsSensorGyro(p)) return;
+	
+	if (localgyrocalibrating[p])
+	{
+		FV3_Load(
+			&localgyrocalibrationoffset[p],
+			((3*localgyrocalibrationoffset[p].x) + gyro.x)/4,
+			((3*localgyrocalibrationoffset[p].y) + gyro.y)/4,
+			((3*localgyrocalibrationoffset[p].z) + gyro.z)/4
+		);
+	}
+	offset = G_GetCalibratedGyroOffset(p);
+	FV3_SubEx(&gyro, &offset, &localgyrovectors[p]);
+}
+
+// math sourced from this article
+// http://gyrowiki.jibbsmart.com/blog:finding-gravity-with-sensor-fusion
+
+// the time it takes in our acceleration smoothing for 'A' to get halfway to 'B'
+#define SmoothingHalfTime (0.01)
+// thresholds of trust for accel shakiness. less shakiness = more trust
+#define ShakinessMaxThreshold (50*FRACUNIT/100)
+#define ShakinessMinThreshold (1*FRACUNIT/100)
+// when we trust the accel a lot (the controller is "still"), how quickly do we correct our gravity vector?
+#define CorrectionStillRate (FRACUNIT)
+// when we don't trust the accel (the controller is "shaky"), how quickly do we correct our gravity vector?
+#define CorrectionShakyRate (10*FRACUNIT/100)
+// if our old gravity vector is close enough to our new one, limit further corrections to this proportion of the rotation speed
+#define CorrectionGyroFactor (40*FRACUNIT/100)
+// thresholds for what's considered "close enough"
+#define CorrectionGyroMinThreshold (5*FRACUNIT/100)
+#define CorrectionGyroMaxThreshold (FRACUNIT/4)
+// no matter what, always apply a minimum of this much correction to our gravity vector
+#define CorrectionMinimumSpeed (1*FRACUNIT/100)
+
+void G_UpdateGamepadGravity(INT32 p, vector3_t gyro, vector3_t accel)
+{
+	// convert gyro input to reverse rotation
+	vector3_t invAccel = {-accel.x, -accel.y, -accel.z};
+	fixed_t correctionRate = 0;
+	// scaling is reversed, smaller time scales = larger steps in this code
+	// (1/timescale)/dt
+	fixed_t deltaseconds = FixedDiv(FRACUNIT, max(cv_timescale.value, FRACUNIT/20))/TICRATE;
+	// we don't have exp2 and we actually need it here to take timescale into account :(
+	fixed_t smoothFactor = FloatToFixed(exp2(-FixedToFloat(deltaseconds) / SmoothingHalfTime));
+	fixed_t angleRate;
+	fixed_t correctionLimit;
+	vector4_t invRotation = AngleAxis(
+		FixedMul(FV3_Length(&gyro), deltaseconds),
+		-gyro.x, 
+		-gyro.y, 
+		-gyro.z
+	);
+	vector3_t gravityDelta = {0};
+	vector3_t gravityDeltaDirection = {0};
+	vector3_t correction = {0};
+
+	if (!G_GetGamepadCanUseTilt(p)) return;
+	CONS_Debug(DBG_IMU, "= Update Gravity Delta Time: %4.3f =\n", FixedToFloat(deltaseconds));
+
+	// rotate gravity vector
+	QuaternionMulVec3(&localgravityvectors[p], &localgravityvectors[p], &invRotation);
+	QuaternionMulVec3(&localsmoothedaccel[p], &localsmoothedaccel[p], &invRotation);
+	localshakinessfac[p] = FixedMul(localshakinessfac[p], smoothFactor), 
+	FV3_SubEx(&accel, &localsmoothedaccel[p], &correction);
+	localshakinessfac[p] = max(localshakinessfac[p], FV3_Length(&correction));
+	FV3_Load(&localsmoothedaccel[p],
+		Easing_Linear(smoothFactor, accel.x, localsmoothedaccel[p].x),
+		Easing_Linear(smoothFactor, accel.y, localsmoothedaccel[p].y),
+		Easing_Linear(smoothFactor, accel.z, localsmoothedaccel[p].z)
+	);
+	
+	CONS_Debug(DBG_IMU, "Shakiness: %4.2f\n", FixedToFloat(localshakinessfac[p]));
+
+	FV3_SubEx(&invAccel, &localgravityvectors[p], &gravityDelta);
+	FV3_NormalizeEx(&gravityDelta, &gravityDeltaDirection);
+
+	if (ShakinessMaxThreshold > ShakinessMinThreshold)
+	{
+		fixed_t stillness = CLAMP(FixedDiv((localshakinessfac[p] - ShakinessMinThreshold), (ShakinessMaxThreshold - ShakinessMinThreshold)), 0, FRACUNIT);
+		correctionRate = CorrectionStillRate + FixedMul((CorrectionShakyRate - CorrectionStillRate), stillness);
+	}
+	else if (localshakinessfac[p] > ShakinessMaxThreshold)
+	{
+		correctionRate = CorrectionShakyRate;
+	}
+	else
+	{
+		correctionRate = CorrectionStillRate;
+	}
+
+	// limit in proportion to rotation rate
+	angleRate = FixedMul(FV3_Length(&gyro), M_PI_FIXED/180);
+	correctionLimit = max(FixedMul(FixedMul(angleRate, FV3_Length(&localgravityvectors[p])), CorrectionGyroFactor), CorrectionMinimumSpeed);
+
+	CONS_Debug(DBG_IMU, "Angle Rate: %4.3f\n", FixedToFloat(angleRate));
+	CONS_Debug(DBG_IMU, "Correction Limit: %4.3f\n", FixedToFloat(correctionLimit));
+
+	if (correctionRate > correctionLimit) {
+		fixed_t closeEnoughFactor;
+		if (CorrectionGyroMaxThreshold > CorrectionGyroMinThreshold)
+		{
+			closeEnoughFactor = CLAMP(FixedDiv((FV3_Length(&gravityDelta) - CorrectionGyroMinThreshold), (CorrectionGyroMaxThreshold - CorrectionGyroMinThreshold)), 0, FRACUNIT);
+		}
+		else if (FV3_Length(&gravityDelta) > CorrectionGyroMaxThreshold)
+		{
+			closeEnoughFactor = FRACUNIT;
+		}
+		else
+		{
+			closeEnoughFactor = 0;
+		}
+		
+		CONS_Debug(DBG_IMU, "'Close Enough' Fac: %4.3f\n", FixedToFloat(closeEnoughFactor));
+		correctionRate = correctionLimit + FixedMul((correctionRate - correctionLimit), closeEnoughFactor);
+	}
+
+	if (localshakinessfac[p] < CorrectionInstantShake && angleRate < CorrectionInstantTurn)
+	{
+		correctionRate = max(correctionRate, CorrectionInstantRate);
+	}
+
+	CONS_Debug(DBG_IMU, "Correction Rate: %4.2f\n", FixedToFloat(correctionRate));
+
+	FV3_Load(&correction,
+		FixedMul(gravityDelta.x, FixedMul(deltaseconds, correctionRate)),
+		FixedMul(gravityDelta.y, FixedMul(deltaseconds, correctionRate)),
+		FixedMul(gravityDelta.z, FixedMul(deltaseconds, correctionRate))
+	);
+	if ((FV3_LengthSquared(&correction) < FV3_LengthSquared(&gravityDelta)))
+	{
+		FV3_Add(&localgravityvectors[p], &correction);
+	}
+	else
+	{
+		FV3_Load(&localgravityvectors[p], invAccel.x, invAccel.y, invAccel.z);
+	}
+}
+
+INT32 G_GetGamepadTilt(INT32 p)
+{	
+	fixed_t tilt;
+	fixed_t curve;
+	if (!G_GetGamepadCanUseTilt(p)) return 0;
+	tilt = CLAMP(FixedDiv(G_GetGamepadGravity(p).x + MAXGAMEPADTILT, 2*MAXGAMEPADTILT), 0, FRACUNIT);
+	CONS_Debug(DBG_IMU, "Tilt: %4.2f\n", FixedToFloat(tilt));
+	
+	curve = FINESINE(FixedAngle(180*(tilt-FRACUNIT/2))>>ANGLETOFINESHIFT);
+	CONS_Debug(DBG_IMU, "Pinched Tilt: %4.2f\n", FixedToFloat(curve));
+	
+	return (JOYAXISRANGE * curve)/FRACUNIT;
+}
+
+vector3_t G_GetGamepadGravity(INT32 p)
+{
+	const vector3_t zero = {0, -ACCELEROMETERGRAVITY, 0};
+	if (!G_GetGamepadCanUseTilt(p)) return zero;
+	return localgravityvectors[p];
+}
+
+vector3_t G_GetGamepadShake(INT32 p)
+{
+	vector3_t accel = {0};
+	if (!G_GetGamepadCanUseTilt(p)) return accel;
+	accel = G_PlayerInputSensor(p, ACCELEROMETER);
+	FV3_Add(&accel, &localgravityvectors[p]);
+
+	return accel;
+}
+
+fixed_t G_GetGamepadShakinessFactor(INT32 p)
+{
+	if (!G_GetGamepadCanUseTilt(p)) return 0;
+	return localshakinessfac[p];
+}
+
+vector3_t G_GetGamepadCalibratedGyro(INT32 p)
+{
+	vector3_t zero = {0};
+	if (p >= MAXSPLITSCREENPLAYERS)
+	{
+#ifdef PARANOIA
+		CONS_Debug(DBG_GAMELOGIC, "G_GetGamepadGyro: Invalid player ID %d\n", p);
+#endif
+		return zero;
+	}
+
+	if (!I_ControllerSupportsSensorGyro(p)) return zero;
+
+	return localgyrovectors[p];
+}
+
+boolean G_GetGamepadCanUseTilt(INT32 p)
+{
+	if (p >= MAXSPLITSCREENPLAYERS)
+	{
+#ifdef PARANOIA
+		CONS_Debug(DBG_GAMELOGIC, "G_GetGamepadCanUseTilt: Invalid player ID %d\n", p);
+#endif
+		return false;
+	}
+
+	return (I_ControllerSupportsSensorAccelerometer(p) && I_ControllerSupportsSensorGyro(p));
+}
+#undef ShakinessMaxThreshold
+#undef ShakinessMinThreshold
+#undef CorrectionStillRate
+#undef CorrectionShakyRate
+#undef CorrectionGyroFactor
+#undef CorrectionGyroMinThreshold
+#undef CorrectionGyroMaxThreshold
+#undef CorrectionMinimumSpeed
+
+#undef CorrectionInstantRate 
+#undef CorrectionInstantShake
+#undef CorrectionInstantTurn
+#undef GyroCalibrationTrust
\ No newline at end of file
diff --git a/src/g_input.h b/src/g_input.h
index 02bd76b7e..09fc49f5c 100644
--- a/src/g_input.h
+++ b/src/g_input.h
@@ -98,6 +98,19 @@ typedef enum
 	num_gamecontrols
 } gamecontrols_e;
 
+typedef enum
+{
+	DEADZONE_X,
+	DEADZONE_Y,
+	DEADZONE_BUTTON,
+} analogdeadzone_e;
+
+typedef enum
+{
+	ACCELEROMETER,
+	GYROSCOPE,
+} motionsensortype_e;
+
 // mouse values are used once
 extern consvar_t cv_mousesens, cv_mouseysens;
 extern consvar_t cv_mousesens2, cv_mouseysens2;
@@ -178,6 +191,22 @@ void G_ResetControls(UINT8 p);
 void G_SaveKeySetting(FILE *f, INT32 (*fromcontrolsa)[MAXINPUTMAPPING], INT32 (*fromcontrolsb)[MAXINPUTMAPPING], INT32 (*fromcontrolsc)[MAXINPUTMAPPING], INT32 (*fromcontrolsd)[MAXINPUTMAPPING]);
 INT32 G_CheckDoubleUsage(INT32 keynum, INT32 playernum, boolean modify);
 
+#define MAXGAMEPADTILT (50*FRACUNIT/100)
+// #define ACCELEROMETERGRAVITY ((fixed_t)(9.80665f * ((float)FRACUNIT)))
+#define ACCELEROMETERGRAVITY 642688
+boolean G_GetGamepadCanUseTilt(INT32 p);
+void G_ResetGyroCalibration(INT32 p);
+void G_UpdateGamepadAutoCalibration(INT32 p, vector3_t accel, vector3_t gyro, boolean allowautocalibration);
+void G_UpdateGamepadGyro(INT32 p, vector3_t gyro);
+void G_UpdateGamepadGravity(INT32 p, vector3_t gyro, vector3_t accel);
+fixed_t G_GetGamepadShakinessFactor(INT32 p);
+vector3_t G_GetGamepadShake(INT32 p);
+vector3_t G_GetGamepadGravity(INT32 p);
+vector3_t G_GetCalibratedGyroOffset(INT32 p);
+vector3_t G_GetGamepadCalibratedGyro(INT32 p);
+vector3_t G_PlayerInputSensor(UINT8 p, motionsensortype_e sensor);
+INT32 G_GetGamepadTilt(INT32 p);
+
 #ifdef __cplusplus
 } // extern "C"
 #endif
diff --git a/src/k_hud.c b/src/k_hud.c
index 19b515b39..0f039e5b7 100644
--- a/src/k_hud.c
+++ b/src/k_hud.c
@@ -32,6 +32,7 @@
 #include "doomstat.h"
 #include "d_clisrv.h"
 #include "g_game.h"
+#include "g_input.h"
 #include "p_local.h"
 #include "z_zone.h"
 #include "m_cond.h"
diff --git a/src/st_stuff.c b/src/st_stuff.c
index 84e74def2..0f5d84114 100644
--- a/src/st_stuff.c
+++ b/src/st_stuff.c
@@ -475,15 +475,10 @@ static void ST_drawMusicDebug(INT32 *height)
 	ST_pushDebugString(height, va("    Song: %8s", mname));
 }
 
-static INT32 ST_getFixedFrac(fixed_t val)
-{
-	return ((abs(val) * 100)>>FRACBITS) % 100;
-}
-
 static void ST_drawImuDebug(INT32 *height)
 {
 	INT32 pnum = stplyrnum;
-	vector3_t accel, gyro, grav, shake;
+	vector3_t accel, gyro, gyrocalibrated, grav, shake;
 	if (demo.playback || (!P_IsMachineLocalPlayer(stplyr)))
 	{
 		ST_pushDebugString(height, va("Only for local player!!"));
@@ -491,14 +486,16 @@ static void ST_drawImuDebug(INT32 *height)
 	}
 
 	accel = G_PlayerInputSensor(pnum, ACCELEROMETER);
-	gyro =  G_PlayerInputSensor(pnum, GYROSCOPE);
-	grav =  G_GetGamepadGravity(pnum);
+	gyro = G_PlayerInputSensor(pnum, GYROSCOPE);
+	gyrocalibrated = G_GetGamepadCalibratedGyro(pnum);
+	grav = G_GetGamepadGravity(pnum);
 	shake = G_GetGamepadShake(pnum);
 
-	ST_pushDebugString(height, va(" Gyro :%4.2f, %4.2f,%4.2f", FixedToFloat(gyro.x), FixedToFloat(gyro.y), FixedToFloat(gyro.z)));
-	ST_pushDebugString(height, va("Accel :%4.2f, %4.2f,%4.2f", FixedToFloat(accel.x), FixedToFloat(accel.y), FixedToFloat(accel.z)));
-	ST_pushDebugString(height, va("Shake :%4.2f, %4.2f,%4.2f", FixedToFloat(shake.x), FixedToFloat(shake.y), FixedToFloat(shake.z)));
-	ST_pushDebugString(height, va(" Grav :%4.2f, %4.2f,%4.2f", FixedToFloat(grav.x), FixedToFloat(grav.y), FixedToFloat(grav.z)));
+	ST_pushDebugString(height, va("    Grav : %4.2f, %4.2f,%4.2f", FixedToFloat(grav.x), FixedToFloat(grav.y), FixedToFloat(grav.z)));
+	ST_pushDebugString(height, va("   Shake : %4.2f, %4.2f,%4.2f", FixedToFloat(shake.x), FixedToFloat(shake.y), FixedToFloat(shake.z)));
+	ST_pushDebugString(height, va("Cal. Gyro: %4.2f, %4.2f,%4.2f", FixedToFloat(gyrocalibrated.x), FixedToFloat(gyrocalibrated.y), FixedToFloat(gyrocalibrated.z)));
+	ST_pushDebugString(height, va("    Gyro : %4.2f, %4.2f,%4.2f", FixedToFloat(gyro.x), FixedToFloat(gyro.y), FixedToFloat(gyro.z)));
+	ST_pushDebugString(height, va("   Accel : %4.2f, %4.2f,%4.2f", FixedToFloat(accel.x), FixedToFloat(accel.y), FixedToFloat(accel.z)));
 }
 
 static void ST_drawRenderDebug(INT32 *height)

From 493e6e96fabcdfe8c1eeec1ae19be1bc137ba027 Mon Sep 17 00:00:00 2001
From: minenice55 <star.elementa@gmail.com>
Date: Thu, 2 Apr 2026 13:39:08 -0400
Subject: [PATCH 2/6] player space gyro and split off from cmd turning

---
 src/d_clisrv.c |  3 ++-
 src/d_ticcmd.h |  8 ++++----
 src/g_game.c   | 31 ++++++++++++++++++++-----------
 src/p_user.c   |  2 +-
 4 files changed, 27 insertions(+), 17 deletions(-)

diff --git a/src/d_clisrv.c b/src/d_clisrv.c
index e4db23675..33802170e 100644
--- a/src/d_clisrv.c
+++ b/src/d_clisrv.c
@@ -5102,8 +5102,9 @@ static boolean CheckForSpeedHacks(UINT8 p)
 {
 	if (netcmds[maketic%BACKUPTICS][p].forwardmove > MAXPLMOVE || netcmds[maketic%BACKUPTICS][p].forwardmove < -MAXPLMOVE
 		|| netcmds[maketic%BACKUPTICS][p].sidemove > MAXPLMOVE || netcmds[maketic%BACKUPTICS][p].sidemove < -MAXPLMOVE
+		|| netcmds[maketic%BACKUPTICS][p].throwdir > KART_FULLTURN || netcmds[maketic%BACKUPTICS][p].throwdir < -KART_FULLTURN
 		|| netcmds[maketic%BACKUPTICS][p].turning > KART_FULLTURN || netcmds[maketic%BACKUPTICS][p].turning < -KART_FULLTURN
-		|| netcmds[maketic%BACKUPTICS][p].throwdir > KART_FULLTURN || netcmds[maketic%BACKUPTICS][p].throwdir < -KART_FULLTURN)
+	)
 	{
 		CONS_Alert(CONS_WARNING, M_GetText("Illegal movement value received from node %d\n"), playernode[p]);
 		//D_Clearticcmd(k);
diff --git a/src/d_ticcmd.h b/src/d_ticcmd.h
index d636043c4..495477fc8 100644
--- a/src/d_ticcmd.h
+++ b/src/d_ticcmd.h
@@ -64,11 +64,11 @@ typedef enum
 // 16 bytes long now!
 struct ticcmd_t
 {
-	SINT8 forwardmove; // -MAXPLMOVE to MAXPLMOVE (50)
-	SINT8 sidemove; // -MAXPLMOVE to MAXPLMOVE (50)
-	INT16 turning; // Turn speed
+	SINT8 forwardmove; // -MAXPLMOVE to MAXPLMOVE (50) (has anticheat)
+	SINT8 sidemove; // -MAXPLMOVE to MAXPLMOVE (50) (has anticheat)
+	INT16 turning; // "Steering Wheel" turn speed when driving (has anticheat)
 	INT16 angle; // Predicted angle, use me if you can!
-	INT16 throwdir; // Aiming direction
+	INT16 throwdir; // Forwards/Backwards item use direction (has anticheat)
 	INT16 aiming; // vertical aiming, see G_BuildTicCmd
 	UINT16 buttons;
 	UINT8 latency; // Netgames: how many tics ago was this ticcmd generated from this player's end?
diff --git a/src/g_game.c b/src/g_game.c
index 88672a4a6..c33bd5976 100644
--- a/src/g_game.c
+++ b/src/g_game.c
@@ -1557,15 +1557,22 @@ void G_BuildTiccmd(ticcmd_t *cmd, INT32 realtics, UINT8 ssplayer)
 		cmd->angle -= (tspeed * KART_FULLTURN) / JOYAXISRANGE;
 		side += (accelerometertilt * 4) / JOYAXISRANGE;
 
-		//todo: control spectator camera using the gyro
+		//control spectator camera using the gyro
+		// player space gyro from http://gyrowiki.jibbsmart.com/blog:player-space-gyro-and-alternatives-explained
 		if (spectating)
 		{
+			fixed_t yawRelaxFactor = 141*FRACUNIT/100;
+			fixed_t worldYaw;
 			fixed_t deltaseconds = FixedDiv(FRACUNIT, max(cv_timescale.value, FRACUNIT/20))/TICRATE;
 			vector3_t gyro = G_GetGamepadCalibratedGyro(forplayer);
-			cmd->turning -= (FixedMul(FixedMul(gyro.y, M_PI_FIXED/180), deltaseconds) * 1) * (encoremode ? -1 : 1);
-			cmd->angle -= (FixedMul(FixedMul(gyro.y, M_PI_FIXED/180), deltaseconds) * 1) * (encoremode ? -1 : 1);
-
-			cmd->aiming -= (FixedMul(FixedMul(gyro.x, M_PI_FIXED/180), deltaseconds) * 1);
+			vector3_t gravnorm = G_GetGamepadGravity(forplayer);
+			vector2_t gyroYZ = {gyro.y, gyro.z};
+			FV3_Normalize(&gravnorm);
+			// use world yaw for yaw direction, local combined yaw for magnitude
+			worldYaw = FixedMul(gyroYZ.x, gravnorm.y) + FixedMul(gyroYZ.y, gravnorm.z); // dot product but just yaw and roll
+			// yes this is backwards intentionally
+			cmd->angle += ((FixedMul(min(FixedMul(abs(worldYaw), yawRelaxFactor), FV2_Magnitude(&gyroYZ)), deltaseconds)*180)/FRACUNIT) * intsign(worldYaw) * (encoremode ? -1 : 1);
+			cmd->aiming -= (((FixedMul(gyro.x, deltaseconds)*180)/FRACUNIT));
 		}
 	}
 	else if (joystickvector.xaxis != 0)
@@ -1579,7 +1586,6 @@ void G_BuildTiccmd(ticcmd_t *cmd, INT32 realtics, UINT8 ssplayer)
 	if (spectating)
 	{
 		INT32 mousex = gamekeydown[0][KEY_MOUSEMOVE+3] - gamekeydown[0][KEY_MOUSEMOVE+2];
-		cmd->turning -= (mousex * 8) * (encoremode ? -1 : 1);
 		cmd->angle -= (mousex * 8) * (encoremode ? -1 : 1);
 	}
 
@@ -1758,11 +1764,14 @@ void G_BuildTiccmd(ticcmd_t *cmd, INT32 realtics, UINT8 ssplayer)
 		cmd->turning = KART_FULLTURN;
 	else if (cmd->turning < -KART_FULLTURN)
 		cmd->turning = -KART_FULLTURN;
-
-	if (cmd->angle > KART_FULLTURN)
-		cmd->angle = KART_FULLTURN;
-	else if (cmd->angle < -KART_FULLTURN)
-		cmd->angle = -KART_FULLTURN;
+		
+	if (!spectating)
+	{
+		if (cmd->angle > KART_FULLTURN)
+			cmd->angle = KART_FULLTURN;
+		else if (cmd->angle < -KART_FULLTURN)
+			cmd->angle = -KART_FULLTURN;
+	}
 
 	if (cmd->throwdir > KART_FULLTURN)
 		cmd->throwdir = KART_FULLTURN;
diff --git a/src/p_user.c b/src/p_user.c
index 0b70e6fbf..882f09c3a 100644
--- a/src/p_user.c
+++ b/src/p_user.c
@@ -2831,7 +2831,7 @@ void P_DemoCameraMovement(camera_t *cam, UINT8 num)
 		cam->reset_aiming = false;
 	}
 
-	cam->angle += cmd->turning << TICCMD_REDUCE;
+	cam->angle = cmd->angle << TICCMD_REDUCE;
 
 	// camera movement:
 	if (!cam->button_a_held)

From 4b5658d487bbe1e2650c839623e633c2b30657b8 Mon Sep 17 00:00:00 2001
From: minenice55 <star.elementa@gmail.com>
Date: Thu, 2 Apr 2026 16:48:05 -0400
Subject: [PATCH 3/6] greatly improve responsiveness of tilt steering

is more correct to the GyroWiki article now
---
 src/g_input.c  | 87 +++++++++++++++++++++++++++-----------------------
 src/st_stuff.c | 10 +++---
 2 files changed, 52 insertions(+), 45 deletions(-)

diff --git a/src/g_input.c b/src/g_input.c
index 4e01a3bfa..521977c90 100644
--- a/src/g_input.c
+++ b/src/g_input.c
@@ -1232,15 +1232,14 @@ void Command_Setcontrol4_f(void)
 // accelerometer and gyro stuff
 
 // when holding the controller still (shaking and turning included), correct this quickly to resolve error
+#define GyroCalibrationRollingAvgSamples (TICRATE)
 #define GyroCalibrationTrust (1*FRACUNIT/100)
 
-#define CorrectionInstantRate (80*FRACUNIT/100)
-#define CorrectionInstantShake (4*FRACUNIT/100)
-#define CorrectionInstantTurn (5*FRACUNIT/100)
-
 boolean localgyrocalibrating[MAXSPLITSCREENPLAYERS];
 vector3_t localgyrovectors[MAXSPLITSCREENPLAYERS];
 
+tic_t localgyrocalibrationsamples[MAXSPLITSCREENPLAYERS];
+vector3_t localgyrocalibrationlastoffset[MAXSPLITSCREENPLAYERS];
 vector3_t localgyrocalibrationoffset[MAXSPLITSCREENPLAYERS];
 
 // assume the accelerometer doesn't need calibration, use this to determine if gyro can be calibrated
@@ -1249,6 +1248,7 @@ vector3_t localaccelcalibrationoffset[MAXSPLITSCREENPLAYERS];
 fixed_t localshakinessfac[MAXSPLITSCREENPLAYERS];
 vector3_t localsmoothedaccel[MAXSPLITSCREENPLAYERS];
 vector3_t localgravityvectors[MAXSPLITSCREENPLAYERS];
+vector4_t localquaternions[MAXSPLITSCREENPLAYERS];
 
 // copy/pasted from the lua version of these routines
 inline static vector3_t *QuaternionMulVec3(vector3_t *out, vector3_t *a, vector4_t *b)
@@ -1270,11 +1270,6 @@ inline static fixed_t FV3_LengthSquared(const vector3_t *vec)
 	return FixedMul(vec->x, vec->x) + FixedMul(vec->y, vec->y) + FixedMul(vec->z, vec->z);
 }
 
-inline static fixed_t FV3_Length(const vector3_t *vec)
-{
-	return FixedSqrt(FV3_LengthSquared(vec));
-}
-
 inline static vector4_t AngleAxis(fixed_t angle, fixed_t x, fixed_t y, fixed_t z)
 {
 	fixed_t sinangle = FINESINE(FixedAngle(angle/2) >> ANGLETOFINESHIFT);
@@ -1315,6 +1310,8 @@ void G_UpdateGamepadAutoCalibration(INT32 p, vector3_t accel, vector3_t gyro, bo
 	{
 		if (!localgyrocalibrating[p])
 		{
+			localgyrocalibrationsamples[p] = 0;
+			FV3_Copy(&localgyrocalibrationlastoffset[p], &localgyrocalibrationoffset[p]);
 			FV3_Load(
 				&localgyrocalibrationoffset[p],
 				0, 0, 0
@@ -1324,6 +1321,12 @@ void G_UpdateGamepadAutoCalibration(INT32 p, vector3_t accel, vector3_t gyro, bo
 	}
 	else
 	{
+		// incomplete calibration
+		if (localgyrocalibrating[p] && localgyrocalibrationsamples[p] <= GyroCalibrationRollingAvgSamples)
+		{
+			FV3_Copy(&localgyrocalibrationoffset[p], &localgyrocalibrationlastoffset[p]);
+			localgyrocalibrationsamples[p] = 0;
+		}
 		localgyrocalibrating[p] = false;
 	}
 }
@@ -1343,13 +1346,16 @@ void G_UpdateGamepadGyro(INT32 p, vector3_t gyro)
 	
 	if (localgyrocalibrating[p])
 	{
+		localgyrocalibrationsamples[p]++;
 		FV3_Load(
 			&localgyrocalibrationoffset[p],
-			((3*localgyrocalibrationoffset[p].x) + gyro.x)/4,
-			((3*localgyrocalibrationoffset[p].y) + gyro.y)/4,
-			((3*localgyrocalibrationoffset[p].z) + gyro.z)/4
+			(((GyroCalibrationRollingAvgSamples-1)*localgyrocalibrationoffset[p].x) + gyro.x)/GyroCalibrationRollingAvgSamples,
+			(((GyroCalibrationRollingAvgSamples-1)*localgyrocalibrationoffset[p].y) + gyro.y)/GyroCalibrationRollingAvgSamples,
+			(((GyroCalibrationRollingAvgSamples-1)*localgyrocalibrationoffset[p].z) + gyro.z)/GyroCalibrationRollingAvgSamples
 		);
 	}
+	CONS_Debug(DBG_IMU, "Gyro calibration samples: %d\n", localgyrocalibrationsamples[p]);
+
 	offset = G_GetCalibratedGyroOffset(p);
 	FV3_SubEx(&gyro, &offset, &localgyrovectors[p]);
 }
@@ -1358,16 +1364,16 @@ void G_UpdateGamepadGyro(INT32 p, vector3_t gyro)
 // http://gyrowiki.jibbsmart.com/blog:finding-gravity-with-sensor-fusion
 
 // the time it takes in our acceleration smoothing for 'A' to get halfway to 'B'
-#define SmoothingHalfTime (0.01)
+#define SmoothingHalfTime (0.25)
 // thresholds of trust for accel shakiness. less shakiness = more trust
-#define ShakinessMaxThreshold (50*FRACUNIT/100)
+#define ShakinessMaxThreshold (40*FRACUNIT/100)
 #define ShakinessMinThreshold (1*FRACUNIT/100)
 // when we trust the accel a lot (the controller is "still"), how quickly do we correct our gravity vector?
 #define CorrectionStillRate (FRACUNIT)
 // when we don't trust the accel (the controller is "shaky"), how quickly do we correct our gravity vector?
-#define CorrectionShakyRate (10*FRACUNIT/100)
+#define CorrectionShakyRate (1*FRACUNIT/100)
 // if our old gravity vector is close enough to our new one, limit further corrections to this proportion of the rotation speed
-#define CorrectionGyroFactor (40*FRACUNIT/100)
+#define CorrectionGyroFactor (5*FRACUNIT/100)
 // thresholds for what's considered "close enough"
 #define CorrectionGyroMinThreshold (5*FRACUNIT/100)
 #define CorrectionGyroMaxThreshold (FRACUNIT/4)
@@ -1384,14 +1390,9 @@ void G_UpdateGamepadGravity(INT32 p, vector3_t gyro, vector3_t accel)
 	fixed_t deltaseconds = FixedDiv(FRACUNIT, max(cv_timescale.value, FRACUNIT/20))/TICRATE;
 	// we don't have exp2 and we actually need it here to take timescale into account :(
 	fixed_t smoothFactor = FloatToFixed(exp2(-FixedToFloat(deltaseconds) / SmoothingHalfTime));
-	fixed_t angleRate;
+	fixed_t angleRate = FixedMul(FV3_Magnitude(&gyro), M_PI_FIXED)/180;
 	fixed_t correctionLimit;
-	vector4_t invRotation = AngleAxis(
-		FixedMul(FV3_Length(&gyro), deltaseconds),
-		-gyro.x, 
-		-gyro.y, 
-		-gyro.z
-	);
+	vector4_t invRotation = {0};
 	vector3_t gravityDelta = {0};
 	vector3_t gravityDeltaDirection = {0};
 	vector3_t correction = {0};
@@ -1399,12 +1400,19 @@ void G_UpdateGamepadGravity(INT32 p, vector3_t gyro, vector3_t accel)
 	if (!G_GetGamepadCanUseTilt(p)) return;
 	CONS_Debug(DBG_IMU, "= Update Gravity Delta Time: %4.3f =\n", FixedToFloat(deltaseconds));
 
+	invRotation = AngleAxis(
+		FixedMul(FixedMul(FV3_Magnitude(&gyro), deltaseconds), 190*FRACUNIT/100),
+		-gyro.x, 
+		-gyro.y, 
+		-gyro.z
+	);
+
 	// rotate gravity vector
 	QuaternionMulVec3(&localgravityvectors[p], &localgravityvectors[p], &invRotation);
 	QuaternionMulVec3(&localsmoothedaccel[p], &localsmoothedaccel[p], &invRotation);
 	localshakinessfac[p] = FixedMul(localshakinessfac[p], smoothFactor), 
 	FV3_SubEx(&accel, &localsmoothedaccel[p], &correction);
-	localshakinessfac[p] = max(localshakinessfac[p], FV3_Length(&correction));
+	localshakinessfac[p] = max(localshakinessfac[p], FV3_Magnitude(&correction));
 	FV3_Load(&localsmoothedaccel[p],
 		Easing_Linear(smoothFactor, accel.x, localsmoothedaccel[p].x),
 		Easing_Linear(smoothFactor, accel.y, localsmoothedaccel[p].y),
@@ -1414,7 +1422,12 @@ void G_UpdateGamepadGravity(INT32 p, vector3_t gyro, vector3_t accel)
 	CONS_Debug(DBG_IMU, "Shakiness: %4.2f\n", FixedToFloat(localshakinessfac[p]));
 
 	FV3_SubEx(&invAccel, &localgravityvectors[p], &gravityDelta);
-	FV3_NormalizeEx(&gravityDelta, &gravityDeltaDirection);
+	if (FV3_Magnitude(&gravityDelta) > 0)
+	{
+		FV3_NormalizeEx(&gravityDelta, &gravityDeltaDirection);
+	}
+
+	CONS_Debug(DBG_IMU, "Gravity Delta Magnitude: %4.3f\n", FixedToFloat(FV3_Magnitude(&gravityDelta)));
 
 	if (ShakinessMaxThreshold > ShakinessMinThreshold)
 	{
@@ -1431,8 +1444,7 @@ void G_UpdateGamepadGravity(INT32 p, vector3_t gyro, vector3_t accel)
 	}
 
 	// limit in proportion to rotation rate
-	angleRate = FixedMul(FV3_Length(&gyro), M_PI_FIXED/180);
-	correctionLimit = max(FixedMul(FixedMul(angleRate, FV3_Length(&localgravityvectors[p])), CorrectionGyroFactor), CorrectionMinimumSpeed);
+	correctionLimit = FixedMul(angleRate, CorrectionGyroFactor);
 
 	CONS_Debug(DBG_IMU, "Angle Rate: %4.3f\n", FixedToFloat(angleRate));
 	CONS_Debug(DBG_IMU, "Correction Limit: %4.3f\n", FixedToFloat(correctionLimit));
@@ -1441,9 +1453,9 @@ void G_UpdateGamepadGravity(INT32 p, vector3_t gyro, vector3_t accel)
 		fixed_t closeEnoughFactor;
 		if (CorrectionGyroMaxThreshold > CorrectionGyroMinThreshold)
 		{
-			closeEnoughFactor = CLAMP(FixedDiv((FV3_Length(&gravityDelta) - CorrectionGyroMinThreshold), (CorrectionGyroMaxThreshold - CorrectionGyroMinThreshold)), 0, FRACUNIT);
+			closeEnoughFactor = CLAMP(FixedDiv((FV3_Magnitude(&gravityDelta) - CorrectionGyroMinThreshold), (CorrectionGyroMaxThreshold - CorrectionGyroMinThreshold)), 0, FRACUNIT);
 		}
-		else if (FV3_Length(&gravityDelta) > CorrectionGyroMaxThreshold)
+		else if (FV3_Magnitude(&gravityDelta) > CorrectionGyroMaxThreshold)
 		{
 			closeEnoughFactor = FRACUNIT;
 		}
@@ -1456,17 +1468,14 @@ void G_UpdateGamepadGravity(INT32 p, vector3_t gyro, vector3_t accel)
 		correctionRate = correctionLimit + FixedMul((correctionRate - correctionLimit), closeEnoughFactor);
 	}
 
-	if (localshakinessfac[p] < CorrectionInstantShake && angleRate < CorrectionInstantTurn)
-	{
-		correctionRate = max(correctionRate, CorrectionInstantRate);
-	}
+	correctionRate = max(correctionRate, CorrectionMinimumSpeed);
 
 	CONS_Debug(DBG_IMU, "Correction Rate: %4.2f\n", FixedToFloat(correctionRate));
 
 	FV3_Load(&correction,
-		FixedMul(gravityDelta.x, FixedMul(deltaseconds, correctionRate)),
-		FixedMul(gravityDelta.y, FixedMul(deltaseconds, correctionRate)),
-		FixedMul(gravityDelta.z, FixedMul(deltaseconds, correctionRate))
+		FixedMul(gravityDeltaDirection.x, FixedMul(deltaseconds, correctionRate)),
+		FixedMul(gravityDeltaDirection.y, FixedMul(deltaseconds, correctionRate)),
+		FixedMul(gravityDeltaDirection.z, FixedMul(deltaseconds, correctionRate))
 	);
 	if ((FV3_LengthSquared(&correction) < FV3_LengthSquared(&gravityDelta)))
 	{
@@ -1474,7 +1483,7 @@ void G_UpdateGamepadGravity(INT32 p, vector3_t gyro, vector3_t accel)
 	}
 	else
 	{
-		FV3_Load(&localgravityvectors[p], invAccel.x, invAccel.y, invAccel.z);
+		FV3_Add(&localgravityvectors[p], &gravityDelta);
 	}
 }
 
@@ -1551,8 +1560,6 @@ boolean G_GetGamepadCanUseTilt(INT32 p)
 #undef CorrectionGyroMinThreshold
 #undef CorrectionGyroMaxThreshold
 #undef CorrectionMinimumSpeed
+#undef SmoothingHalfTime
 
-#undef CorrectionInstantRate 
-#undef CorrectionInstantShake
-#undef CorrectionInstantTurn
 #undef GyroCalibrationTrust
\ No newline at end of file
diff --git a/src/st_stuff.c b/src/st_stuff.c
index 0f5d84114..67ef85a01 100644
--- a/src/st_stuff.c
+++ b/src/st_stuff.c
@@ -491,11 +491,11 @@ static void ST_drawImuDebug(INT32 *height)
 	grav = G_GetGamepadGravity(pnum);
 	shake = G_GetGamepadShake(pnum);
 
-	ST_pushDebugString(height, va("    Grav : %4.2f, %4.2f,%4.2f", FixedToFloat(grav.x), FixedToFloat(grav.y), FixedToFloat(grav.z)));
-	ST_pushDebugString(height, va("   Shake : %4.2f, %4.2f,%4.2f", FixedToFloat(shake.x), FixedToFloat(shake.y), FixedToFloat(shake.z)));
-	ST_pushDebugString(height, va("Cal. Gyro: %4.2f, %4.2f,%4.2f", FixedToFloat(gyrocalibrated.x), FixedToFloat(gyrocalibrated.y), FixedToFloat(gyrocalibrated.z)));
-	ST_pushDebugString(height, va("    Gyro : %4.2f, %4.2f,%4.2f", FixedToFloat(gyro.x), FixedToFloat(gyro.y), FixedToFloat(gyro.z)));
-	ST_pushDebugString(height, va("   Accel : %4.2f, %4.2f,%4.2f", FixedToFloat(accel.x), FixedToFloat(accel.y), FixedToFloat(accel.z)));
+	ST_pushDebugString(height, va(" Grav :%4.2f,%4.2f,%4.2f", FixedToFloat(grav.x), FixedToFloat(grav.y), FixedToFloat(grav.z)));
+	ST_pushDebugString(height, va("Shake :%4.2f,%4.2f,%4.2f", FixedToFloat(shake.x), FixedToFloat(shake.y), FixedToFloat(shake.z)));
+	ST_pushDebugString(height, va("Cal. G:%4.2f,%4.2f,%4.2f", FixedToFloat(gyrocalibrated.x), FixedToFloat(gyrocalibrated.y), FixedToFloat(gyrocalibrated.z)));
+	ST_pushDebugString(height, va(" Gyro :%4.2f,%4.2f,%4.2f", FixedToFloat(gyro.x), FixedToFloat(gyro.y), FixedToFloat(gyro.z)));
+	ST_pushDebugString(height, va("Accel :%4.2f,%4.2f,%4.2f", FixedToFloat(accel.x), FixedToFloat(accel.y), FixedToFloat(accel.z)));
 }
 
 static void ST_drawRenderDebug(INT32 *height)

From 03554c03ed779848377c40af7db05bb8c60b6846 Mon Sep 17 00:00:00 2001
From: minenice55 <star.elementa@gmail.com>
Date: Sat, 4 Apr 2026 19:13:50 -0400
Subject: [PATCH 4/6] freelook bind, fix issues with spectator gyro

---
 src/d_main.cpp   |  2 +-
 src/deh_tables.c |  1 +
 src/g_game.c     | 17 ++++++++++-------
 src/g_input.c    |  1 +
 src/g_input.h    |  1 +
 src/p_local.h    | 11 +++++++----
 src/p_tick.c     | 44 +++++++++++++++++++++++++++++++++++++++-----
 src/p_user.c     |  4 ++--
 8 files changed, 62 insertions(+), 19 deletions(-)

diff --git a/src/d_main.cpp b/src/d_main.cpp
index f9032717a..dd5f633ba 100644
--- a/src/d_main.cpp
+++ b/src/d_main.cpp
@@ -102,7 +102,7 @@
 #define ASSET_HASH_TEXTURES_KART       0xb4211b2f32b6a291
 #define ASSET_HASH_CHARS_KART          0x1e68a3e01aa5c68b
 #define ASSET_HASH_MAPS_KART           0x38558ed00da41ce9
-#define ASSET_HASH_MAIN_PK3            0xa83b5f0cfc1ffd7b
+#define ASSET_HASH_MAIN_PK3            0x9260d8dd984ea7c4
 #define ASSET_HASH_MAPPATCH_PK3        0x1745690024efbaf8
 #define ASSET_HASH_BONUSCHARS_KART     0x60e6f13d822a7461
 #ifdef USE_PATCH_FILE
diff --git a/src/deh_tables.c b/src/deh_tables.c
index e172647af..c9b457a2a 100644
--- a/src/deh_tables.c
+++ b/src/deh_tables.c
@@ -1574,6 +1574,7 @@ struct int_const_s const INT_CONST[] = {
 	{"GC_RESPAWN",gc_respawn},
 	{"GC_DIRECTOR",gc_director},
 	{"GC_HORNCODE",gc_horncode},
+	{"GC_FREELOOK",gc_freelook},
 	{"NUM_GAMECONTROLS",num_gamecontrols},
 
 	// screen.h constants
diff --git a/src/g_game.c b/src/g_game.c
index c33bd5976..005603746 100644
--- a/src/g_game.c
+++ b/src/g_game.c
@@ -1561,18 +1561,21 @@ void G_BuildTiccmd(ticcmd_t *cmd, INT32 realtics, UINT8 ssplayer)
 		// player space gyro from http://gyrowiki.jibbsmart.com/blog:player-space-gyro-and-alternatives-explained
 		if (spectating)
 		{
-			fixed_t yawRelaxFactor = 141*FRACUNIT/100;
-			fixed_t worldYaw;
 			fixed_t deltaseconds = FixedDiv(FRACUNIT, max(cv_timescale.value, FRACUNIT/20))/TICRATE;
+			fixed_t yawRelaxFactor = 141*FRACUNIT/100;
 			vector3_t gyro = G_GetGamepadCalibratedGyro(forplayer);
 			vector3_t gravnorm = G_GetGamepadGravity(forplayer);
 			vector2_t gyroYZ = {gyro.y, gyro.z};
-			FV3_Normalize(&gravnorm);
+
 			// use world yaw for yaw direction, local combined yaw for magnitude
-			worldYaw = FixedMul(gyroYZ.x, gravnorm.y) + FixedMul(gyroYZ.y, gravnorm.z); // dot product but just yaw and roll
-			// yes this is backwards intentionally
-			cmd->angle += ((FixedMul(min(FixedMul(abs(worldYaw), yawRelaxFactor), FV2_Magnitude(&gyroYZ)), deltaseconds)*180)/FRACUNIT) * intsign(worldYaw) * (encoremode ? -1 : 1);
-			cmd->aiming -= (((FixedMul(gyro.x, deltaseconds)*180)/FRACUNIT));
+			FV3_Normalize(&gravnorm);
+			fixed_t worldYaw = FixedMul(gyro.y, gravnorm.y) + FixedMul(gyro.z, gravnorm.z); // dot product but just yaw and roll
+
+			fixed_t yaw = intsign(worldYaw) * (encoremode ? -1 : 1) *
+				min(FixedMul(-abs(worldYaw), yawRelaxFactor), FV2_Magnitude(&gyroYZ));
+
+			cmd->angle -= FixedMul(yaw, deltaseconds*180)/FRACUNIT;
+			cmd->aiming -= FixedMul(gyro.x, deltaseconds*180)/FRACUNIT;
 		}
 	}
 	else if (joystickvector.xaxis != 0)
diff --git a/src/g_input.c b/src/g_input.c
index 521977c90..4a6b93930 100644
--- a/src/g_input.c
+++ b/src/g_input.c
@@ -179,6 +179,7 @@ INT32 gamecontroldefault[num_gamecontrols][MAXINPUTMAPPING] = {
 	[gc_centerview ] = {KEY_END                    },
 	[gc_camreset   ] = {KEY_HOME                   },
 	[gc_camtoggle  ] = {KEY_BACKSPACE              },
+	[gc_freelook   ] = {KEY_RCTRL	               },
 };
 
 // lists of GC codes for selective operation
diff --git a/src/g_input.h b/src/g_input.h
index 09fc49f5c..f21f3f092 100644
--- a/src/g_input.h
+++ b/src/g_input.h
@@ -95,6 +95,7 @@ typedef enum
 	gc_respawn,
 	gc_director,
 	gc_horncode,
+	gc_freelook,
 	num_gamecontrols
 } gamecontrols_e;
 
diff --git a/src/p_local.h b/src/p_local.h
index aaa8be214..d754bac74 100644
--- a/src/p_local.h
+++ b/src/p_local.h
@@ -132,14 +132,17 @@ struct camera_t
 	fixed_t pan;
 	// SRB2Kart: camera pitches on slopes
 	angle_t pitch;
-
+	
 	// Freecam: A button was held since entering from menu, so don't move camera
 	UINT8 button_a_held;
-
+	
 	boolean reset_aiming;	// camera aiming needs to be reset from chase camera
-
+	
 	// Hold up/down to pan the camera vertically
-	SINT8 dpad_y_held;
+	SINT8 freelook_held;
+	// between -45 deg and 45 deg
+	fixed_t freelook_pitch;
+	fixed_t freelook_pitch_add;
 
 	// Interpolation data
 	fixed_t old_x, old_y, old_z;
diff --git a/src/p_tick.c b/src/p_tick.c
index ed2c17128..5cba9224b 100644
--- a/src/p_tick.c
+++ b/src/p_tick.c
@@ -650,16 +650,50 @@ void P_RunChaseCameras(void)
 	{
 		if (camera[i].chase)
 		{
-			player_t *p = &players[displayplayers[i]];
+			INT32 forplayer = displayplayers[i];
+			player_t *p = &players[forplayer];
 			camera_t *cam = &camera[i];
 
-			if (p->mo && p->cmd.throwdir != 0)
+			// client sided
+			if (p->mo && G_PlayerInputDown(forplayer, gc_freelook, false, DEADZONE_BUTTON))
 			{
-				if (p->speed < 6 * p->mo->scale && abs(cam->dpad_y_held) < 2*TICRATE)
-					cam->dpad_y_held += intsign(p->cmd.throwdir);
+				// instantly able to move camera
+				if (p->speed < 6 * p->mo->scale && abs(cam->freelook_held) < 2*TICRATE)
+				{
+					cam->freelook_held = 2*TICRATE;
+				}
+
+				if (abs(cam->freelook_held) >= 2*TICRATE)
+				{
+					cam->freelook_pitch = (45*FixedDiv(p->cmd.throwdir, KART_FULLTURN));
+
+					// gyro aiming
+					if (G_GetGamepadCanUseTilt(forplayer) && cv_tiltcontrol[forplayer].value == 1)
+					{
+						fixed_t deltaseconds = FixedDiv(FRACUNIT, max(cv_timescale.value, FRACUNIT/20))/TICRATE;
+						vector3_t gyro = G_GetGamepadCalibratedGyro(forplayer);
+						cam->freelook_pitch_add -= FixedMul(gyro.x, deltaseconds);
+					}
+				}
+			}
+			else if (p->mo && p->cmd.throwdir != 0)
+			{
+				if (p->speed < 6 * p->mo->scale && abs(cam->freelook_held) < 2*TICRATE)
+				{
+					cam->freelook_held += intsign(p->cmd.throwdir);
+				}
+				
+				if (abs(cam->freelook_held) >= 2*TICRATE)
+				{
+					cam->freelook_pitch = 45*FRACUNIT*intsign(p->cmd.throwdir);
+				}
 			}
 			else
-				cam->dpad_y_held = 0;
+			{
+				cam->freelook_held = 0;
+				cam->freelook_pitch = 0;
+				cam->freelook_pitch_add = 0;
+			}
 
 			P_MoveChaseCamera(p, cam, false);
 		}
diff --git a/src/p_user.c b/src/p_user.c
index 882f09c3a..747994780 100644
--- a/src/p_user.c
+++ b/src/p_user.c
@@ -3098,9 +3098,9 @@ boolean P_MoveChaseCamera(player_t *player, camera_t *thiscam, boolean resetcall
 		focusaiming = player->aiming;
 	}
 
-	if (abs(thiscam->dpad_y_held) >= 2*TICRATE)
+	if (abs(thiscam->freelook_held) >= 2*TICRATE)
 	{
-		focusaiming += ANGLE_45 * intsign(thiscam->dpad_y_held) * P_MobjFlip(mo);
+		focusaiming += FixedAngle(CLAMP(thiscam->freelook_pitch + thiscam->freelook_pitch_add, -45*FRACUNIT, 45*FRACUNIT) * P_MobjFlip(mo));
 	}
 
 	if (P_CameraThinker(player, thiscam, resetcalled))

From 41e18998090d0a2fa7720b84a31c99e4325a83c8 Mon Sep 17 00:00:00 2001
From: minenice55 <star.elementa@gmail.com>
Date: Sun, 5 Apr 2026 16:38:35 -0400
Subject: [PATCH 5/6] only calibrate controllers while in controls setup

calibration will need its own screen eventually
---
 src/g_game.c  |  2 +-
 src/g_input.c | 24 +++++++++++++++---------
 2 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/src/g_game.c b/src/g_game.c
index 005603746..ad20b510b 100644
--- a/src/g_game.c
+++ b/src/g_game.c
@@ -1471,7 +1471,7 @@ void G_BuildTiccmd(ticcmd_t *cmd, INT32 realtics, UINT8 ssplayer)
 		vector3_t gyro = G_PlayerInputSensor(forplayer, GYROSCOPE);
 
 		G_UpdateGamepadAutoCalibration(forplayer, accel, gyro,
-			(paused || P_AutoPause() || (menustack[0] == MN_OP_CONTROLSETUP)));
+			(menustack[0] == MN_OP_CONTROLSETUP));
 
 		G_UpdateGamepadGyro(forplayer, gyro);
 		G_UpdateGamepadGravity(forplayer, G_GetGamepadCalibratedGyro(forplayer), accel);
diff --git a/src/g_input.c b/src/g_input.c
index 4a6b93930..6a4a278fa 100644
--- a/src/g_input.c
+++ b/src/g_input.c
@@ -1233,7 +1233,8 @@ void Command_Setcontrol4_f(void)
 // accelerometer and gyro stuff
 
 // when holding the controller still (shaking and turning included), correct this quickly to resolve error
-#define GyroCalibrationRollingAvgSamples (TICRATE)
+#define GyroCalibrationRollingAvgSamples (TICRATE/2)
+#define GyroCalibrationStart (TICRATE/2)
 #define GyroCalibrationTrust (1*FRACUNIT/100)
 
 boolean localgyrocalibrating[MAXSPLITSCREENPLAYERS];
@@ -1323,7 +1324,7 @@ void G_UpdateGamepadAutoCalibration(INT32 p, vector3_t accel, vector3_t gyro, bo
 	else
 	{
 		// incomplete calibration
-		if (localgyrocalibrating[p] && localgyrocalibrationsamples[p] <= GyroCalibrationRollingAvgSamples)
+		if (localgyrocalibrating[p] && localgyrocalibrationsamples[p] <= (GyroCalibrationRollingAvgSamples + GyroCalibrationStart))
 		{
 			FV3_Copy(&localgyrocalibrationoffset[p], &localgyrocalibrationlastoffset[p]);
 			localgyrocalibrationsamples[p] = 0;
@@ -1348,12 +1349,15 @@ void G_UpdateGamepadGyro(INT32 p, vector3_t gyro)
 	if (localgyrocalibrating[p])
 	{
 		localgyrocalibrationsamples[p]++;
-		FV3_Load(
-			&localgyrocalibrationoffset[p],
-			(((GyroCalibrationRollingAvgSamples-1)*localgyrocalibrationoffset[p].x) + gyro.x)/GyroCalibrationRollingAvgSamples,
-			(((GyroCalibrationRollingAvgSamples-1)*localgyrocalibrationoffset[p].y) + gyro.y)/GyroCalibrationRollingAvgSamples,
-			(((GyroCalibrationRollingAvgSamples-1)*localgyrocalibrationoffset[p].z) + gyro.z)/GyroCalibrationRollingAvgSamples
-		);
+		if (localgyrocalibrationsamples[p] > GyroCalibrationStart)
+		{
+			FV3_Load(
+				&localgyrocalibrationoffset[p],
+				(((GyroCalibrationRollingAvgSamples-1)*localgyrocalibrationoffset[p].x) + gyro.x)/GyroCalibrationRollingAvgSamples,
+				(((GyroCalibrationRollingAvgSamples-1)*localgyrocalibrationoffset[p].y) + gyro.y)/GyroCalibrationRollingAvgSamples,
+				(((GyroCalibrationRollingAvgSamples-1)*localgyrocalibrationoffset[p].z) + gyro.z)/GyroCalibrationRollingAvgSamples
+			);
+		}
 	}
 	CONS_Debug(DBG_IMU, "Gyro calibration samples: %d\n", localgyrocalibrationsamples[p]);
 
@@ -1563,4 +1567,6 @@ boolean G_GetGamepadCanUseTilt(INT32 p)
 #undef CorrectionMinimumSpeed
 #undef SmoothingHalfTime
 
-#undef GyroCalibrationTrust
\ No newline at end of file
+#undef GyroCalibrationTrust
+#undef GyroCalibrationStart
+#undef GyroCalibrationRollingAvgSamples
\ No newline at end of file

From 84cfa132c6e084a2b56117604ff86c1958e4e99a Mon Sep 17 00:00:00 2001
From: minenice55 <star.elementa@gmail.com>
Date: Sun, 5 Apr 2026 16:46:25 -0400
Subject: [PATCH 6/6] Update d_main.cpp

---
 src/d_main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/d_main.cpp b/src/d_main.cpp
index dd5f633ba..87055d389 100644
--- a/src/d_main.cpp
+++ b/src/d_main.cpp
@@ -102,7 +102,7 @@
 #define ASSET_HASH_TEXTURES_KART       0xb4211b2f32b6a291
 #define ASSET_HASH_CHARS_KART          0x1e68a3e01aa5c68b
 #define ASSET_HASH_MAPS_KART           0x38558ed00da41ce9
-#define ASSET_HASH_MAIN_PK3            0x9260d8dd984ea7c4
+#define ASSET_HASH_MAIN_PK3            0x5bb203462b8eb19b
 #define ASSET_HASH_MAPPATCH_PK3        0x1745690024efbaf8
 #define ASSET_HASH_BONUSCHARS_KART     0x60e6f13d822a7461
 #ifdef USE_PATCH_FILE