diff --git a/include/inputdev/CDeviceBase.hpp b/include/inputdev/CDeviceBase.hpp
index c468e22..fe81c69 100644
--- a/include/inputdev/CDeviceBase.hpp
+++ b/include/inputdev/CDeviceBase.hpp
@@ -24,7 +24,7 @@ public:
     virtual ~CDeviceBase();
     void closeDevice();
     virtual void deviceDisconnected()=0;
-    virtual void deviceError(const char* error) {fprintf(stderr, "%s\n", error);}
+    virtual void deviceError(const char* error, ...);
     
     /* Low-Level API */
     bool sendUSBInterruptTransfer(uint8_t pipe, const uint8_t* data, size_t length);
diff --git a/include/inputdev/CDualshockPad.hpp b/include/inputdev/CDualshockPad.hpp
index 5a4b629..e4d4107 100644
--- a/include/inputdev/CDualshockPad.hpp
+++ b/include/inputdev/CDualshockPad.hpp
@@ -30,7 +30,9 @@ union SDualshockOutReport
     {
         uint8_t reportId;
         SDualshockRumble rumble;
-        uint8_t padding[4];
+        uint8_t gyro1;
+        uint8_t gyro2;
+        uint8_t padding[2];
         uint8_t leds;
         SDualshockLED led[4];
         SDualshockLED reserved;
@@ -40,16 +42,16 @@ union SDualshockOutReport
 
 enum EDualshockControllerButtons
 {
-    DS3_SELECT   = 1<<0,
-    DS3_L3       = 1<<1,
-    DS3_R3       = 1<<2,
-    DS3_START    = 1<<3,
-    DS3_UP       = 1<<4,
-    DS3_RIGHT    = 1<<5,
-    DS3_DOWN     = 1<<6,
-    DS3_LEFT     = 1<<7,
-    DS3_L2       = 1<<8,
-    DS3_R2       = 1<<9,
+    DS3_SELECT   = 1<< 0,
+    DS3_L3       = 1<< 1,
+    DS3_R3       = 1<< 2,
+    DS3_START    = 1<< 3,
+    DS3_UP       = 1<< 4,
+    DS3_RIGHT    = 1<< 5,
+    DS3_DOWN     = 1<< 6,
+    DS3_LEFT     = 1<< 7,
+    DS3_L2       = 1<< 8,
+    DS3_R2       = 1<< 9,
     DS3_L1       = 1<<10,
     DS3_R1       = 1<<11,
     DS3_TRIANGLE = 1<<12,
@@ -102,6 +104,7 @@ struct SDualshockControllerState
     uint8_t  m_reserved5[9];
     uint16_t m_accelerometer[3];
     uint16_t m_gyrometerZ;
+    // INTERNAL, set by libBoo, do not modify directly!
     float accPitch;
     float accYaw;
     float gyroZ;
@@ -112,7 +115,7 @@ struct IDualshockControllerCallback
 {
     CDualshockController* ctrl = nullptr;
     virtual void controllerDisconnected() {}
-    virtual void controllerUpdate(const SDualshockControllerState& state) {}
+    virtual void controllerUpdate(const SDualshockControllerState&) {}
 };
 
 class CDualshockController final : public CDeviceBase
diff --git a/src/inputdev/CDeviceBase.cpp b/src/inputdev/CDeviceBase.cpp
index 41c5394..c182bb3 100644
--- a/src/inputdev/CDeviceBase.cpp
+++ b/src/inputdev/CDeviceBase.cpp
@@ -1,6 +1,7 @@
 #include "inputdev/CDeviceBase.hpp"
 #include "inputdev/CDeviceToken.hpp"
 #include "IHIDDevice.hpp"
+#include <cstdarg>
 
 namespace boo
 {
@@ -33,6 +34,14 @@ void CDeviceBase::closeDevice()
         m_token->_deviceClose();
 }
 
+void CDeviceBase::deviceError(const char* error, ...)
+{
+    va_list vl;
+    va_start(vl, error);
+    vfprintf(stderr, error, vl);
+    va_end(vl);
+}
+
 bool CDeviceBase::sendUSBInterruptTransfer(uint8_t pipe, const uint8_t* data, size_t length)
 {
     if (m_hidDev)
diff --git a/src/inputdev/CDualshockPad.cpp b/src/inputdev/CDualshockPad.cpp
index 1ccbebf..8664c8f 100644
--- a/src/inputdev/CDualshockPad.cpp
+++ b/src/inputdev/CDualshockPad.cpp
@@ -29,8 +29,7 @@ void hexdump(void *ptr, int buflen) {
 namespace boo
 {
 static const uint8_t defaultReport[35] = {
-        0x01,
-        0xff, 0x00, 0xff, 0x00,
+        0x01, 0xff, 0x00, 0xff, 0x00,
         0xff, 0x80, 0x00, 0x00, 0x00,
         0xff, 0x27, 0x10, 0x00, 0x32,
         0xff, 0x27, 0x10, 0x00, 0x32,
@@ -62,7 +61,11 @@ void CDualshockController::deviceDisconnected()
 void CDualshockController::initialCycle()
 {
     uint8_t setupCommand[4] = {0x42, 0x0c, 0x00, 0x00}; //Tells controller to start sending changes on in pipe
-    sendHIDReport(setupCommand, sizeof(setupCommand), 0x03F4);
+    if (!sendHIDReport(setupCommand, sizeof(setupCommand), 0x03F4))
+    {
+        deviceError("Unable to send complete packet! Request size %x\n", sizeof(setupCommand));
+        return;
+    }
     uint8_t btAddr[8];
     receiveReport(btAddr, sizeof(btAddr), 0x03F5);
     for (int i = 0; i < 6; i++)
@@ -113,9 +116,9 @@ void CDualshockController::transferCycle()
     }
     else
     {
-        if (state.m_reserved5[8] == 0xC0)
+        if (state.m_reserved5[8] & 0x80)
             m_rumbleRequest &= ~DS3_MOTOR_RIGHT;
-        if (state.m_reserved5[7] == 0x01)
+        if (state.m_reserved5[7] & 0x01)
             m_rumbleRequest &= ~DS3_MOTOR_LEFT;
         m_rumbleState = m_rumbleRequest;
         const double zeroG = 511.5; // 1.65/3.3*1023 (1,65V);
diff --git a/src/inputdev/CHIDListenerUdev.cpp b/src/inputdev/CHIDListenerUdev.cpp
index 5a01ef1..5db05f5 100644
--- a/src/inputdev/CHIDListenerUdev.cpp
+++ b/src/inputdev/CHIDListenerUdev.cpp
@@ -47,7 +47,7 @@ class CHIDListenerUdev final : public IHIDListener
 
         int vid = 0, pid = 0;
         udev_list_entry* attrs = udev_device_get_properties_list_entry(device);
-#if 0
+#if 1
         udev_list_entry* att = NULL;
         udev_list_entry_foreach(att, attrs)
         {
diff --git a/test/main.cpp b/test/main.cpp
index ce3f7e3..b172a16 100644
--- a/test/main.cpp
+++ b/test/main.cpp
@@ -73,6 +73,7 @@ class CDualshockControllerCallback : public IDualshockControllerCallback
         /*
         else
             ctrl->stopRumble(DS3_MOTOR_RIGHT | DS3_MOTOR_LEFT);*/
+
         printf("CONTROLLER UPDATE %d %d\n", state.m_leftStick[0], state.m_leftStick[1]);
         printf("                  %d %d\n", state.m_rightStick[0], state.m_rightStick[1]);
         printf("                  %f %f %f\n", state.accPitch, state.accYaw, state.gyroZ);