diff --git a/include/SDL_events.h b/include/SDL_events.h
index a9da3fa2e..ae560c085 100644
--- a/include/SDL_events.h
+++ b/include/SDL_events.h
@@ -128,6 +128,7 @@ typedef enum
     SDL_CONTROLLERTOUCHPADDOWN,        /**< Game controller touchpad was touched */
     SDL_CONTROLLERTOUCHPADMOTION,      /**< Game controller touchpad finger was moved */
     SDL_CONTROLLERTOUCHPADUP,          /**< Game controller touchpad finger was lifted */
+    SDL_CONTROLLERSENSORUPDATE,        /**< Game controller sensor was updated */
 
     /* Touch events */
     SDL_FINGERDOWN      = 0x700,
@@ -426,13 +427,24 @@ typedef struct SDL_ControllerTouchpadEvent
     Uint32 type;        /**< ::SDL_CONTROLLERTOUCHPADDOWN or ::SDL_CONTROLLERTOUCHPADMOTION or ::SDL_CONTROLLERTOUCHPADUP */
     Uint32 timestamp;   /**< In milliseconds, populated using SDL_GetTicks() */
     SDL_JoystickID which; /**< The joystick instance id */
-    int touchpad;       /**< The index of the touchpad */
-    int finger;         /**< The index of the finger on the touchpad */
+    Sint32 touchpad;    /**< The index of the touchpad */
+    Sint32 finger;      /**< The index of the finger on the touchpad */
     float x;            /**< Normalized in the range 0...1 with 0 being on the left */
     float y;            /**< Normalized in the range 0...1 with 0 being at the top */
     float pressure;     /**< Normalized in the range 0...1 */
 } SDL_ControllerTouchpadEvent;
 
+/**
+ *  \brief Game controller sensor event structure (event.csensor.*)
+ */
+typedef struct SDL_ControllerSensorEvent
+{
+    Uint32 type;        /**< ::SDL_CONTROLLERSENSORUPDATE */
+    Uint32 timestamp;   /**< In milliseconds, populated using SDL_GetTicks() */
+    SDL_JoystickID which; /**< The joystick instance id */
+    Sint32 sensor;      /**< The type of the sensor, one of the values of ::SDL_SensorType */
+    float data[3];      /**< Up to 3 values from the sensor, as defined in SDL_sensor.h */
+} SDL_ControllerSensorEvent;
 
 /**
  *  \brief Audio device event structure (event.adevice.*)
@@ -597,6 +609,7 @@ typedef union SDL_Event
     SDL_ControllerButtonEvent cbutton;      /**< Game Controller button event data */
     SDL_ControllerDeviceEvent cdevice;      /**< Game Controller device event data */
     SDL_ControllerTouchpadEvent ctouchpad;  /**< Game Controller touchpad event data */
+    SDL_ControllerSensorEvent csensor;      /**< Game Controller sensor event data */
     SDL_AudioDeviceEvent adevice;           /**< Audio device event data */
     SDL_SensorEvent sensor;                 /**< Sensor event data */
     SDL_QuitEvent quit;                     /**< Quit request event data */
diff --git a/include/SDL_gamecontroller.h b/include/SDL_gamecontroller.h
index ee7ef6475..e42433c95 100644
--- a/include/SDL_gamecontroller.h
+++ b/include/SDL_gamecontroller.h
@@ -31,6 +31,7 @@
 #include "SDL_stdinc.h"
 #include "SDL_error.h"
 #include "SDL_rwops.h"
+#include "SDL_sensor.h"
 #include "SDL_joystick.h"
 
 #include "begin_code.h"
@@ -430,6 +431,52 @@ extern DECLSPEC int SDLCALL SDL_GameControllerGetNumTouchpadFingers(SDL_GameCont
  */
 extern DECLSPEC int SDLCALL SDL_GameControllerGetTouchpadFinger(SDL_GameController *gamecontroller, int touchpad, int finger, Uint8 *state, float *x, float *y, float *pressure);
 
+/**
+ *  Return whether a game controller has a particular sensor.
+ *
+ *  \param gamecontroller The controller to query
+ *  \param type The type of sensor to query
+ *
+ *  \return SDL_TRUE if the sensor exists, SDL_FALSE otherwise.
+ */
+extern DECLSPEC SDL_bool SDLCALL SDL_GameControllerHasSensor(SDL_GameController *gamecontroller, SDL_SensorType type);
+
+/**
+ *  Set whether data reporting for a game controller sensor is enabled
+ *
+ *  \param gamecontroller The controller to update
+ *  \param type The type of sensor to enable/disable
+ *  \param enabled Whether data reporting should be enabled
+ *
+ *  \return 0 or -1 if an error occurred.
+ */
+extern DECLSPEC int SDLCALL SDL_GameControllerSetSensorEnabled(SDL_GameController *gamecontroller, SDL_SensorType type, SDL_bool enabled);
+
+/**
+ *  Query whether sensor data reporting is enabled for a game controller
+ *
+ *  \param gamecontroller The controller to query
+ *  \param type The type of sensor to query
+ *
+ *  \return SDL_TRUE if the sensor is enabled, SDL_FALSE otherwise.
+ */
+extern DECLSPEC SDL_bool SDLCALL SDL_GameControllerIsSensorEnabled(SDL_GameController *gamecontroller, SDL_SensorType type);
+
+/**
+ *  Get the current state of a game controller sensor.
+ *
+ *  The number of values and interpretation of the data is sensor dependent.
+ *  See SDL_sensor.h for the details for each type of sensor.
+ *
+ *  \param gamecontroller The controller to query
+ *  \param type The type of sensor to query
+ *  \param data A pointer filled with the current sensor state
+ *  \param num_values The number of values to write to data
+ *
+ *  \return 0 or -1 if an error occurred.
+ */
+extern DECLSPEC int SDLCALL SDL_GameControllerGetSensorData(SDL_GameController *gamecontroller, SDL_SensorType type, float *data, int num_values);
+
 /**
  *  Start a rumble effect
  *  Each call to this function cancels any previous rumble effect, and calling it with 0 intensity stops any rumbling.
diff --git a/include/SDL_sensor.h b/include/SDL_sensor.h
index 83abf1ee4..e6236341e 100644
--- a/include/SDL_sensor.h
+++ b/include/SDL_sensor.h
@@ -78,14 +78,16 @@ typedef enum
  * Accelerometer sensor
  *
  * The accelerometer returns the current acceleration in SI meters per
- * second squared. This includes gravity, so a device at rest will have
- * an acceleration of SDL_STANDARD_GRAVITY straight down.
+ * second squared. This measurement includes the force of gravity, so
+ * a device at rest will have an value of SDL_STANDARD_GRAVITY away
+ * from the center of the earth.
  *
  * values[0]: Acceleration on the x axis
  * values[1]: Acceleration on the y axis
  * values[2]: Acceleration on the z axis
  *
- * For phones held in portrait mode, the axes are defined as follows:
+ * For phones held in portrait mode and game controllers held in front of you,
+ * the axes are defined as follows:
  * -X ... +X : left ... right
  * -Y ... +Y : bottom ... top
  * -Z ... +Z : farther ... closer
@@ -105,16 +107,17 @@ typedef enum
  * see positive rotation on that axis when it appeared to be rotating
  * counter-clockwise.
  *
- * values[0]: Angular speed around the x axis
- * values[1]: Angular speed around the y axis
- * values[2]: Angular speed around the z axis
+ * values[0]: Angular speed around the x axis (pitch)
+ * values[1]: Angular speed around the y axis (yaw)
+ * values[2]: Angular speed around the z axis (roll)
  *
- * For phones held in portrait mode, the axes are defined as follows:
+ * For phones held in portrait mode and game controllers held in front of you,
+ * the axes are defined as follows:
  * -X ... +X : left ... right
  * -Y ... +Y : bottom ... top
  * -Z ... +Z : farther ... closer
  * 
- * The axis data is not changed when the phone is rotated.
+ * The axis data is not changed when the phone or controller is rotated.
  *
  * \sa SDL_GetDisplayOrientation()
  */
diff --git a/src/dynapi/SDL_dynapi_overrides.h b/src/dynapi/SDL_dynapi_overrides.h
index 278bbdff9..1a583cf53 100644
--- a/src/dynapi/SDL_dynapi_overrides.h
+++ b/src/dynapi/SDL_dynapi_overrides.h
@@ -782,3 +782,7 @@
 #define SDL_crc32 SDL_crc32_REAL
 #define SDL_GameControllerGetSerial SDL_GameControllerGetSerial_REAL
 #define SDL_JoystickGetSerial SDL_JoystickGetSerial_REAL
+#define SDL_GameControllerHasSensor SDL_GameControllerHasSensor_REAL
+#define SDL_GameControllerSetSensorEnabled SDL_GameControllerSetSensorEnabled_REAL
+#define SDL_GameControllerIsSensorEnabled SDL_GameControllerIsSensorEnabled_REAL
+#define SDL_GameControllerGetSensorData SDL_GameControllerGetSensorData_REAL
diff --git a/src/dynapi/SDL_dynapi_procs.h b/src/dynapi/SDL_dynapi_procs.h
index 8847a9ff4..0fd1939ad 100644
--- a/src/dynapi/SDL_dynapi_procs.h
+++ b/src/dynapi/SDL_dynapi_procs.h
@@ -843,3 +843,7 @@ SDL_DYNAPI_PROC(int,SDL_GameControllerGetTouchpadFinger,(SDL_GameController *a,
 SDL_DYNAPI_PROC(Uint32,SDL_crc32,(Uint32 a, const void *b, size_t c),(a,b,c),return)
 SDL_DYNAPI_PROC(const char*,SDL_GameControllerGetSerial,(SDL_GameController *a),(a),return)
 SDL_DYNAPI_PROC(const char*,SDL_JoystickGetSerial,(SDL_Joystick *a),(a),return)
+SDL_DYNAPI_PROC(SDL_bool,SDL_GameControllerHasSensor,(SDL_GameController *a, SDL_SensorType b),(a,b),return)
+SDL_DYNAPI_PROC(int,SDL_GameControllerSetSensorEnabled,(SDL_GameController *a, SDL_SensorType b, SDL_bool c),(a,b,c),return)
+SDL_DYNAPI_PROC(SDL_bool,SDL_GameControllerIsSensorEnabled,(SDL_GameController *a, SDL_SensorType b),(a,b),return)
+SDL_DYNAPI_PROC(int,SDL_GameControllerGetSensorData,(SDL_GameController *a, SDL_SensorType b, float *c, int d),(a,b,c,d),return)
diff --git a/src/joystick/SDL_gamecontroller.c b/src/joystick/SDL_gamecontroller.c
index 89a216467..a90d2b295 100644
--- a/src/joystick/SDL_gamecontroller.c
+++ b/src/joystick/SDL_gamecontroller.c
@@ -2059,6 +2059,111 @@ SDL_GameControllerGetTouchpadFinger(SDL_GameController *gamecontroller, int touc
     }
 }
 
+/**
+ *  Return whether a game controller has a particular sensor.
+ */
+SDL_bool
+SDL_GameControllerHasSensor(SDL_GameController *gamecontroller, SDL_SensorType type)
+{
+    SDL_Joystick *joystick = SDL_GameControllerGetJoystick(gamecontroller);
+    int i;
+
+    if (joystick) {
+        for (i = 0; i < joystick->nsensors; ++i) {
+            if (joystick->sensors[i].type == type) {
+                return SDL_TRUE;
+            }
+        }
+    }
+    return SDL_FALSE;
+}
+
+/*
+ *  Set whether data reporting for a game controller sensor is enabled
+ */
+int SDL_GameControllerSetSensorEnabled(SDL_GameController *gamecontroller, SDL_SensorType type, SDL_bool enabled)
+{
+    SDL_Joystick *joystick = SDL_GameControllerGetJoystick(gamecontroller);
+    int i;
+
+    if (!joystick) {
+        return SDL_InvalidParamError("gamecontroller");
+    }
+
+    for (i = 0; i < joystick->nsensors; ++i) {
+        SDL_JoystickSensorInfo *sensor = &joystick->sensors[i];
+
+        if (sensor->type == type) {
+            if (sensor->enabled == enabled) {
+                return 0;
+            }
+
+            if (enabled) {
+                if (joystick->nsensors_enabled == 0) {
+                    if (joystick->driver->SetSensorsEnabled(joystick, SDL_TRUE) < 0) {
+                        return -1;
+                    }
+                }
+                ++joystick->nsensors_enabled;
+            } else {
+                if (joystick->nsensors_enabled == 1) {
+                    if (joystick->driver->SetSensorsEnabled(joystick, SDL_FALSE) < 0) {
+                        return -1;
+                    }
+                }
+                --joystick->nsensors_enabled;
+            }
+
+            sensor->enabled = enabled;
+            return 0;
+        }
+    }
+    return SDL_Unsupported();
+}
+
+/*
+ *  Query whether sensor data reporting is enabled for a game controller
+ */
+SDL_bool SDL_GameControllerIsSensorEnabled(SDL_GameController *gamecontroller, SDL_SensorType type)
+{
+    SDL_Joystick *joystick = SDL_GameControllerGetJoystick(gamecontroller);
+    int i;
+
+    if (joystick) {
+        for (i = 0; i < joystick->nsensors; ++i) {
+            if (joystick->sensors[i].type == type) {
+                return joystick->sensors[i].enabled;
+            }
+        }
+    }
+    return SDL_FALSE;
+}
+
+/*
+ *  Get the current state of a game controller sensor.
+ */
+int
+SDL_GameControllerGetSensorData(SDL_GameController *gamecontroller, SDL_SensorType type, float *data, int num_values)
+{
+    SDL_Joystick *joystick = SDL_GameControllerGetJoystick(gamecontroller);
+    int i;
+
+    if (!joystick) {
+        return SDL_InvalidParamError("gamecontroller");
+    }
+
+    for (i = 0; i < joystick->nsensors; ++i) {
+        SDL_JoystickSensorInfo *sensor = &joystick->sensors[i];
+
+        if (sensor->type == type) {
+            num_values = SDL_min(num_values, SDL_arraysize(sensor->data));
+            SDL_memcpy(data, sensor->data, num_values*sizeof(*data));
+            return 0;
+        }
+    }
+    return SDL_Unsupported();
+}
+
 const char *
 SDL_GameControllerName(SDL_GameController *gamecontroller)
 {
diff --git a/src/joystick/SDL_joystick.c b/src/joystick/SDL_joystick.c
index 8ee009aac..4c5623e19 100644
--- a/src/joystick/SDL_joystick.c
+++ b/src/joystick/SDL_joystick.c
@@ -1109,7 +1109,7 @@ SDL_PrivateJoystickShouldIgnoreEvent()
 void SDL_PrivateJoystickAddTouchpad(SDL_Joystick *joystick, int nfingers)
 {
     int ntouchpads = joystick->ntouchpads + 1;
-    SDL_JoystickTouchpadInfo *touchpads = (SDL_JoystickTouchpadInfo *)SDL_realloc(joystick->touchpads, sizeof(SDL_JoystickTouchpadInfo));
+    SDL_JoystickTouchpadInfo *touchpads = (SDL_JoystickTouchpadInfo *)SDL_realloc(joystick->touchpads, (ntouchpads * sizeof(SDL_JoystickTouchpadInfo)));
     if (touchpads) {
         SDL_JoystickTouchpadInfo *touchpad = &touchpads[ntouchpads - 1];
         SDL_JoystickTouchpadFingerInfo *fingers = (SDL_JoystickTouchpadFingerInfo *)SDL_calloc(nfingers, sizeof(SDL_JoystickTouchpadFingerInfo));
@@ -1128,6 +1128,21 @@ void SDL_PrivateJoystickAddTouchpad(SDL_Joystick *joystick, int nfingers)
     }
 }
 
+void SDL_PrivateJoystickAddSensor(SDL_Joystick *joystick, SDL_SensorType type)
+{
+    int nsensors = joystick->nsensors + 1;
+    SDL_JoystickSensorInfo *sensors = (SDL_JoystickSensorInfo *)SDL_realloc(joystick->sensors, (nsensors * sizeof(SDL_JoystickSensorInfo)));
+    if (sensors) {
+        SDL_JoystickSensorInfo *sensor = &sensors[nsensors - 1];
+
+        SDL_zerop(sensor);
+        sensor->type = type;
+
+        joystick->nsensors = nsensors;
+        joystick->sensors = sensors;
+    }
+}
+
 void SDL_PrivateJoystickAdded(SDL_JoystickID device_instance)
 {
     SDL_JoystickDriver *driver;
@@ -2463,8 +2478,8 @@ int SDL_PrivateJoystickTouchpad(SDL_Joystick *joystick, int touchpad, int finger
 {
     SDL_JoystickTouchpadInfo *touchpad_info;
     SDL_JoystickTouchpadFingerInfo *finger_info;
-#if !SDL_EVENTS_DISABLED
     int posted;
+#if !SDL_EVENTS_DISABLED
     Uint32 event_type;
 #endif
 
@@ -2544,4 +2559,41 @@ int SDL_PrivateJoystickTouchpad(SDL_Joystick *joystick, int touchpad, int finger
     return posted;
 }
 
+int SDL_PrivateJoystickSensor(SDL_Joystick *joystick, SDL_SensorType type, const float *data, int num_values)
+{
+    int i;
+    int posted = 0;
+
+    for (i = 0; i < joystick->nsensors; ++i) {
+        SDL_JoystickSensorInfo *sensor = &joystick->sensors[i];
+
+        if (sensor->type == type) {
+            if (sensor->enabled) {
+                /* Allow duplicate events, for things like gyro updates */
+
+                /* Update internal sensor state */
+                num_values = SDL_min(num_values, SDL_arraysize(sensor->data));
+                SDL_memcpy(sensor->data, data, num_values*sizeof(*data));
+
+                /* Post the event, if desired */
+                posted = 0;
+#if !SDL_EVENTS_DISABLED
+                if (SDL_GetEventState(SDL_CONTROLLERSENSORUPDATE) == SDL_ENABLE) {
+                    SDL_Event event;
+                    event.type = SDL_CONTROLLERSENSORUPDATE;
+                    event.csensor.which = joystick->instance_id;
+                    event.csensor.sensor = type;
+                    num_values = SDL_min(num_values, SDL_arraysize(event.csensor.data));
+                    SDL_memset(event.csensor.data, 0, sizeof(event.csensor.data));
+                    SDL_memcpy(event.csensor.data, data, num_values*sizeof(*data));
+                    posted = SDL_PushEvent(&event) == 1;
+                }
+#endif /* !SDL_EVENTS_DISABLED */
+            }
+            break;
+        }
+    }
+    return posted;
+}
+
 /* vi: set ts=4 sw=4 expandtab: */
diff --git a/src/joystick/SDL_joystick_c.h b/src/joystick/SDL_joystick_c.h
index 2839930d2..2cceb3410 100644
--- a/src/joystick/SDL_joystick_c.h
+++ b/src/joystick/SDL_joystick_c.h
@@ -109,6 +109,7 @@ extern void SDL_GameControllerHandleDelayedGuideButton(SDL_Joystick *joystick);
 
 /* Internal event queueing functions */
 extern void SDL_PrivateJoystickAddTouchpad(SDL_Joystick *joystick, int nfingers);
+extern void SDL_PrivateJoystickAddSensor(SDL_Joystick *joystick, SDL_SensorType type);
 extern void SDL_PrivateJoystickAdded(SDL_JoystickID device_instance);
 extern void SDL_PrivateJoystickRemoved(SDL_JoystickID device_instance);
 extern int SDL_PrivateJoystickAxis(SDL_Joystick *joystick,
@@ -121,6 +122,8 @@ extern int SDL_PrivateJoystickButton(SDL_Joystick *joystick,
                                      Uint8 button, Uint8 state);
 extern int SDL_PrivateJoystickTouchpad(SDL_Joystick *joystick,
                                        int touchpad, int finger, Uint8 state, float x, float y, float pressure);
+extern int SDL_PrivateJoystickSensor(SDL_Joystick *joystick,
+                                     SDL_SensorType type, const float *data, int num_values);
 extern void SDL_PrivateJoystickBatteryLevel(SDL_Joystick *joystick,
                                             SDL_JoystickPowerLevel ePowerLevel);
 
diff --git a/src/joystick/SDL_sysjoystick.h b/src/joystick/SDL_sysjoystick.h
index 158bb86cd..3ea7d39c1 100644
--- a/src/joystick/SDL_sysjoystick.h
+++ b/src/joystick/SDL_sysjoystick.h
@@ -53,6 +53,13 @@ typedef struct _SDL_JoystickTouchpadInfo
     SDL_JoystickTouchpadFingerInfo *fingers;
 } SDL_JoystickTouchpadInfo;
 
+typedef struct _SDL_JoystickSensorInfo
+{
+    SDL_SensorType type;
+    SDL_bool enabled;
+    float data[3];      /* If this needs to expand, update SDL_ControllerSensorEvent */
+} SDL_JoystickSensorInfo;
+
 struct _SDL_Joystick
 {
     SDL_JoystickID instance_id; /* Device instance, monotonically increasing from 0 */
@@ -78,6 +85,10 @@ struct _SDL_Joystick
     int ntouchpads;             /* Number of touchpads on the joystick */
     SDL_JoystickTouchpadInfo *touchpads;    /* Current touchpad states */
 
+    int nsensors;               /* Number of sensors on the joystick */
+    int nsensors_enabled;
+    SDL_JoystickSensorInfo *sensors;
+
     Uint16 low_frequency_rumble;
     Uint16 high_frequency_rumble;
     Uint32 rumble_expiration;
@@ -94,6 +105,7 @@ struct _SDL_Joystick
     SDL_bool is_game_controller;
     SDL_bool delayed_guide_button; /* SDL_TRUE if this device has the guide button event delayed */
     SDL_JoystickPowerLevel epowerlevel; /* power level of this joystick, SDL_JOYSTICK_POWER_UNKNOWN if not supported */
+
     struct _SDL_JoystickDriver *driver;
 
     struct joystick_hwdata *hwdata;     /* Driver dependent information */
@@ -154,6 +166,9 @@ typedef struct _SDL_JoystickDriver
     SDL_bool (*HasLED)(SDL_Joystick *joystick);
     int (*SetLED)(SDL_Joystick *joystick, Uint8 red, Uint8 green, Uint8 blue);
 
+    /* Sensor functionality */
+    int (*SetSensorsEnabled)(SDL_Joystick *joystick, SDL_bool enabled);
+
     /* Function to update the state of a joystick - called as a device poll.
      * This function shouldn't update the joystick structure directly,
      * but instead should call SDL_PrivateJoystick*() to deliver events
diff --git a/src/joystick/android/SDL_sysjoystick.c b/src/joystick/android/SDL_sysjoystick.c
index a00343e7a..a226d3909 100644
--- a/src/joystick/android/SDL_sysjoystick.c
+++ b/src/joystick/android/SDL_sysjoystick.c
@@ -630,6 +630,12 @@ ANDROID_JoystickSetLED(SDL_Joystick * joystick, Uint8 red, Uint8 green, Uint8 bl
     return SDL_Unsupported();
 }
 
+static int
+ANDROID_JoystickSetSensorsEnabled(SDL_Joystick *joystick, SDL_bool enabled)
+{
+    return SDL_Unsupported();
+}
+
 static void
 ANDROID_JoystickUpdate(SDL_Joystick * joystick)
 {
@@ -711,6 +717,7 @@ SDL_JoystickDriver SDL_ANDROID_JoystickDriver =
     ANDROID_JoystickRumbleTriggers,
     ANDROID_JoystickHasLED,
     ANDROID_JoystickSetLED,
+    ANDROID_JoystickSetSensorsEnabled,
     ANDROID_JoystickUpdate,
     ANDROID_JoystickClose,
     ANDROID_JoystickQuit,
diff --git a/src/joystick/bsd/SDL_sysjoystick.c b/src/joystick/bsd/SDL_sysjoystick.c
index c68629ae7..1595acf3c 100644
--- a/src/joystick/bsd/SDL_sysjoystick.c
+++ b/src/joystick/bsd/SDL_sysjoystick.c
@@ -206,8 +206,8 @@ static void report_free(struct report *);
 
 static int numjoysticks = 0;
 
-static int BSD_JoystickOpen(SDL_Joystick * joy, int device_index);
-static void BSD_JoystickClose(SDL_Joystick * joy);
+static int BSD_JoystickOpen(SDL_Joystick *joy, int device_index);
+static void BSD_JoystickClose(SDL_Joystick *joy);
 
 static int
 BSD_JoystickInit(void)
@@ -340,7 +340,7 @@ hatval_to_sdl(Sint32 hatval)
 
 
 static int
-BSD_JoystickOpen(SDL_Joystick * joy, int device_index)
+BSD_JoystickOpen(SDL_Joystick *joy, int device_index)
 {
     char *path = joynames[device_index];
     struct joystick_hwdata *hw;
@@ -532,7 +532,7 @@ desc_failed:
 }
 
 static void
-BSD_JoystickUpdate(SDL_Joystick * joy)
+BSD_JoystickUpdate(SDL_Joystick *joy)
 {
     struct hid_item hitem;
     struct hid_data *hdata;
@@ -666,7 +666,7 @@ BSD_JoystickUpdate(SDL_Joystick * joy)
 
 /* Function to close a joystick after use */
 static void
-BSD_JoystickClose(SDL_Joystick * joy)
+BSD_JoystickClose(SDL_Joystick *joy)
 {
     if (SDL_strncmp(joy->hwdata->path, "/dev/joy", 8)) {
         report_free(&joy->hwdata->inreport);
@@ -757,13 +757,13 @@ report_free(struct report *r)
 }
 
 static int
-BSD_JoystickRumble(SDL_Joystick * joystick, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble)
+BSD_JoystickRumble(SDL_Joystick *joystick, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble)
 {
     return SDL_Unsupported();
 }
 
 static int
-BSD_JoystickRumbleTriggers(SDL_Joystick * joystick, Uint16 left_rumble, Uint16 right_rumble)
+BSD_JoystickRumbleTriggers(SDL_Joystick *joystick, Uint16 left_rumble, Uint16 right_rumble)
 {
     return SDL_Unsupported();
 }
@@ -775,13 +775,19 @@ BSD_JoystickGetGamepadMapping(int device_index, SDL_GamepadMapping *out)
 }
 
 static SDL_bool
-BSD_JoystickHasLED(SDL_Joystick * joystick)
+BSD_JoystickHasLED(SDL_Joystick *joystick)
 {
     return SDL_FALSE;
 }
 
 static int
-BSD_JoystickSetLED(SDL_Joystick * joystick, Uint8 red, Uint8 green, Uint8 blue)
+BSD_JoystickSetLED(SDL_Joystick *joystick, Uint8 red, Uint8 green, Uint8 blue)
+{
+    return SDL_Unsupported();
+}
+
+static int
+BSD_JoystickSetSensorsEnabled(SDL_Joystick *joystick, SDL_bool enabled)
 {
     return SDL_Unsupported();
 }
@@ -801,6 +807,7 @@ SDL_JoystickDriver SDL_BSD_JoystickDriver =
     BSD_JoystickRumbleTriggers,
     BSD_JoystickHasLED,
     BSD_JoystickSetLED,
+    BSD_JoystickSetSensorsEnabled,
     BSD_JoystickUpdate,
     BSD_JoystickClose,
     BSD_JoystickQuit,
diff --git a/src/joystick/darwin/SDL_sysjoystick.c b/src/joystick/darwin/SDL_sysjoystick.c
index 408bdab67..8bea24410 100644
--- a/src/joystick/darwin/SDL_sysjoystick.c
+++ b/src/joystick/darwin/SDL_sysjoystick.c
@@ -940,6 +940,12 @@ DARWIN_JoystickSetLED(SDL_Joystick * joystick, Uint8 red, Uint8 green, Uint8 blu
     return SDL_Unsupported();
 }
 
+static int
+DARWIN_JoystickSetSensorsEnabled(SDL_Joystick *joystick, SDL_bool enabled)
+{
+    return SDL_Unsupported();
+}
+
 static void
 DARWIN_JoystickUpdate(SDL_Joystick * joystick)
 {
@@ -1090,6 +1096,7 @@ SDL_JoystickDriver SDL_DARWIN_JoystickDriver =
     DARWIN_JoystickRumbleTriggers,
     DARWIN_JoystickHasLED,
     DARWIN_JoystickSetLED,
+    DARWIN_JoystickSetSensorsEnabled,
     DARWIN_JoystickUpdate,
     DARWIN_JoystickClose,
     DARWIN_JoystickQuit,
diff --git a/src/joystick/dummy/SDL_sysjoystick.c b/src/joystick/dummy/SDL_sysjoystick.c
index 04d744d2d..a51fb206a 100644
--- a/src/joystick/dummy/SDL_sysjoystick.c
+++ b/src/joystick/dummy/SDL_sysjoystick.c
@@ -78,42 +78,48 @@ DUMMY_JoystickGetDeviceInstanceID(int device_index)
 }
 
 static int
-DUMMY_JoystickOpen(SDL_Joystick * joystick, int device_index)
+DUMMY_JoystickOpen(SDL_Joystick *joystick, int device_index)
 {
     return SDL_SetError("Logic error: No joysticks available");
 }
 
 static int
-DUMMY_JoystickRumble(SDL_Joystick * joystick, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble)
+DUMMY_JoystickRumble(SDL_Joystick *joystick, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble)
 {
     return SDL_Unsupported();
 }
 
 static int
-DUMMY_JoystickRumbleTriggers(SDL_Joystick * joystick, Uint16 left_rumble, Uint16 right_rumble)
+DUMMY_JoystickRumbleTriggers(SDL_Joystick *joystick, Uint16 left_rumble, Uint16 right_rumble)
 {
     return SDL_Unsupported();
 }
 
 static SDL_bool
-DUMMY_JoystickHasLED(SDL_Joystick * joystick)
+DUMMY_JoystickHasLED(SDL_Joystick *joystick)
 {
     return SDL_FALSE;
 }
 
 static int
-DUMMY_JoystickSetLED(SDL_Joystick * joystick, Uint8 red, Uint8 green, Uint8 blue)
+DUMMY_JoystickSetLED(SDL_Joystick *joystick, Uint8 red, Uint8 green, Uint8 blue)
+{
+    return SDL_Unsupported();
+}
+
+static int
+DUMMY_JoystickSetSensorsEnabled(SDL_Joystick *joystick, SDL_bool enabled)
 {
     return SDL_Unsupported();
 }
 
 static void
-DUMMY_JoystickUpdate(SDL_Joystick * joystick)
+DUMMY_JoystickUpdate(SDL_Joystick *joystick)
 {
 }
 
 static void
-DUMMY_JoystickClose(SDL_Joystick * joystick)
+DUMMY_JoystickClose(SDL_Joystick *joystick)
 {
 }
 
@@ -143,6 +149,7 @@ SDL_JoystickDriver SDL_DUMMY_JoystickDriver =
     DUMMY_JoystickRumbleTriggers,
     DUMMY_JoystickHasLED,
     DUMMY_JoystickSetLED,
+    DUMMY_JoystickSetSensorsEnabled,
     DUMMY_JoystickUpdate,
     DUMMY_JoystickClose,
     DUMMY_JoystickQuit,
diff --git a/src/joystick/emscripten/SDL_sysjoystick.c b/src/joystick/emscripten/SDL_sysjoystick.c
index 74327ab3e..cafea91f7 100644
--- a/src/joystick/emscripten/SDL_sysjoystick.c
+++ b/src/joystick/emscripten/SDL_sysjoystick.c
@@ -304,7 +304,7 @@ EMSCRIPTEN_JoystickGetDeviceInstanceID(int device_index)
    It returns 0, or -1 if there is an error.
  */
 static int
-EMSCRIPTEN_JoystickOpen(SDL_Joystick * joystick, int device_index)
+EMSCRIPTEN_JoystickOpen(SDL_Joystick *joystick, int device_index)
 {
     SDL_joylist_item *item = JoystickByDeviceIndex(device_index);
 
@@ -336,7 +336,7 @@ EMSCRIPTEN_JoystickOpen(SDL_Joystick * joystick, int device_index)
  * and update joystick device state.
  */
 static void
-EMSCRIPTEN_JoystickUpdate(SDL_Joystick * joystick)
+EMSCRIPTEN_JoystickUpdate(SDL_Joystick *joystick)
 {
     EmscriptenGamepadEvent gamepadState;
     SDL_joylist_item *item = (SDL_joylist_item *) joystick->hwdata;
@@ -378,7 +378,7 @@ EMSCRIPTEN_JoystickUpdate(SDL_Joystick * joystick)
 
 /* Function to close a joystick after use */
 static void
-EMSCRIPTEN_JoystickClose(SDL_Joystick * joystick)
+EMSCRIPTEN_JoystickClose(SDL_Joystick *joystick)
 {
     SDL_joylist_item *item = (SDL_joylist_item *) joystick->hwdata;
     if (item) {
@@ -398,13 +398,13 @@ EMSCRIPTEN_JoystickGetDeviceGUID(int device_index)
 }
 
 static int
-EMSCRIPTEN_JoystickRumble(SDL_Joystick * joystick, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble)
+EMSCRIPTEN_JoystickRumble(SDL_Joystick *joystick, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble)
 {
     return SDL_Unsupported();
 }
 
 static int
-EMSCRIPTEN_JoystickRumbleTriggers(SDL_Joystick * joystick, Uint16 left_rumble, Uint16 right_rumble)
+EMSCRIPTEN_JoystickRumbleTriggers(SDL_Joystick *joystick, Uint16 left_rumble, Uint16 right_rumble)
 {
     return SDL_Unsupported();
 }
@@ -416,13 +416,19 @@ EMSCRIPTEN_JoystickGetGamepadMapping(int device_index, SDL_GamepadMapping *out)
 }
 
 static SDL_bool
-EMSCRIPTEN_JoystickHasLED(SDL_Joystick * joystick)
+EMSCRIPTEN_JoystickHasLED(SDL_Joystick *joystick)
 {
     return SDL_FALSE;
 }
 
 static int
-EMSCRIPTEN_JoystickSetLED(SDL_Joystick * joystick, Uint8 red, Uint8 green, Uint8 blue)
+EMSCRIPTEN_JoystickSetLED(SDL_Joystick *joystick, Uint8 red, Uint8 green, Uint8 blue)
+{
+    return SDL_Unsupported();
+}
+
+static int
+EMSCRIPTEN_JoystickSetSensorsEnabled(SDL_Joystick *joystick, SDL_bool enabled)
 {
     return SDL_Unsupported();
 }
@@ -442,6 +448,7 @@ SDL_JoystickDriver SDL_EMSCRIPTEN_JoystickDriver =
     EMSCRIPTEN_JoystickRumbleTriggers,
     EMSCRIPTEN_JoystickHasLED,
     EMSCRIPTEN_JoystickSetLED,
+    EMSCRIPTEN_JoystickSetSensorsEnabled,
     EMSCRIPTEN_JoystickUpdate,
     EMSCRIPTEN_JoystickClose,
     EMSCRIPTEN_JoystickQuit,
diff --git a/src/joystick/haiku/SDL_haikujoystick.cc b/src/joystick/haiku/SDL_haikujoystick.cc
index 6adb4da3e..31f52ae0e 100644
--- a/src/joystick/haiku/SDL_haikujoystick.cc
+++ b/src/joystick/haiku/SDL_haikujoystick.cc
@@ -114,14 +114,14 @@ extern "C"
         return device_index;
     }
 
-    static void HAIKU_JoystickClose(SDL_Joystick * joystick);
+    static void HAIKU_JoystickClose(SDL_Joystick *joystick);
 
 /* Function to open a joystick for use.
    The joystick to open is specified by the device index.
    This should fill the nbuttons and naxes fields of the joystick structure.
    It returns 0, or -1 if there is an error.
  */
-    static int HAIKU_JoystickOpen(SDL_Joystick * joystick, int device_index)
+    static int HAIKU_JoystickOpen(SDL_Joystick *joystick, int device_index)
     {
         BJoystick *stick;
 
@@ -168,7 +168,7 @@ extern "C"
  * but instead should call SDL_PrivateJoystick*() to deliver events
  * and update joystick device state.
  */
-    static void HAIKU_JoystickUpdate(SDL_Joystick * joystick)
+    static void HAIKU_JoystickUpdate(SDL_Joystick *joystick)
     {
         static const Uint8 hat_map[9] = {
             SDL_HAT_CENTERED,
@@ -217,7 +217,7 @@ extern "C"
     }
 
 /* Function to close a joystick after use */
-    static void HAIKU_JoystickClose(SDL_Joystick * joystick)
+    static void HAIKU_JoystickClose(SDL_Joystick *joystick)
     {
         if (joystick->hwdata) {
             joystick->hwdata->stick->Close();
@@ -254,13 +254,13 @@ extern "C"
         return guid;
     }
 
-    static int HAIKU_JoystickRumble(SDL_Joystick * joystick, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble)
+    static int HAIKU_JoystickRumble(SDL_Joystick *joystick, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble)
     {
         return SDL_Unsupported();
     }
 
 
-    static int HAIKU_JoystickRumbleTriggers(SDL_Joystick * joystick, Uint16 left_rumble, Uint16 right_rumble)
+    static int HAIKU_JoystickRumbleTriggers(SDL_Joystick *joystick, Uint16 left_rumble, Uint16 right_rumble)
     {
         return SDL_Unsupported();
     }
@@ -271,12 +271,17 @@ extern "C"
         return SDL_FALSE;
     }
 
-    static SDL_bool HAIKU_JoystickHasLED(SDL_Joystick * joystick)
+    static SDL_bool HAIKU_JoystickHasLED(SDL_Joystick *joystick)
     {
         return SDL_FALSE;
     }
 
-    static int HAIKU_JoystickSetLED(SDL_Joystick * joystick, Uint8 red, Uint8 green, Uint8 blue)
+    static int HAIKU_JoystickSetLED(SDL_Joystick *joystick, Uint8 red, Uint8 green, Uint8 blue)
+    {
+        return SDL_Unsupported();
+    }
+
+    static int HAIKU_JoystickSetSensorsEnabled(SDL_Joystick *joystick, SDL_bool enabled)
     {
         return SDL_Unsupported();
     }
@@ -296,6 +301,7 @@ extern "C"
         HAIKU_JoystickRumbleTriggers,
         HAIKU_JoystickHasLED,
         HAIKU_JoystickSetLED,
+        HAIKU_JoystickSetSensorsEnabled,
         HAIKU_JoystickUpdate,
         HAIKU_JoystickClose,
         HAIKU_JoystickQuit,
diff --git a/src/joystick/hidapi/SDL_hidapi_gamecube.c b/src/joystick/hidapi/SDL_hidapi_gamecube.c
index 61688c8b5..d85516ba3 100644
--- a/src/joystick/hidapi/SDL_hidapi_gamecube.c
+++ b/src/joystick/hidapi/SDL_hidapi_gamecube.c
@@ -381,6 +381,12 @@ HIDAPI_DriverGameCube_SetJoystickLED(SDL_HIDAPI_Device *device, SDL_Joystick *jo
     return SDL_Unsupported();
 }
 
+static int
+HIDAPI_DriverGameCube_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, SDL_bool enabled)
+{
+    return SDL_Unsupported();
+}
+
 static void
 HIDAPI_DriverGameCube_CloseJoystick(SDL_HIDAPI_Device *device, SDL_Joystick *joystick)
 {
@@ -423,6 +429,7 @@ SDL_HIDAPI_DeviceDriver SDL_HIDAPI_DriverGameCube =
     HIDAPI_DriverGameCube_RumbleJoystickTriggers,
     HIDAPI_DriverGameCube_HasJoystickLED,
     HIDAPI_DriverGameCube_SetJoystickLED,
+    HIDAPI_DriverGameCube_SetJoystickSensorsEnabled,
     HIDAPI_DriverGameCube_CloseJoystick,
     HIDAPI_DriverGameCube_FreeDevice,
     NULL,
diff --git a/src/joystick/hidapi/SDL_hidapi_ps4.c b/src/joystick/hidapi/SDL_hidapi_ps4.c
index c7d6e25b0..e4056fd28 100644
--- a/src/joystick/hidapi/SDL_hidapi_ps4.c
+++ b/src/joystick/hidapi/SDL_hidapi_ps4.c
@@ -37,6 +37,17 @@
 
 #ifdef SDL_JOYSTICK_HIDAPI_PS4
 
+/* Define this if you want to log all packets from the controller */
+/*#define DEBUG_PS4_PROTOCOL*/
+
+/* Define this if you want to log calibration data */
+/*#define DEBUG_PS4_CALIBRATION*/
+
+#define GYRO_RES_PER_DEGREE 1024.0f
+#define ACCEL_RES_PER_G     8192.0f
+
+#define LOAD16(A, B)  (Sint16)((Uint16)(A) | (((Uint16)(B)) << 8))
+
 typedef enum
 {
     k_EPS4ReportIdUsbState = 1,
@@ -71,12 +82,12 @@ typedef struct
     Uint8 ucTriggerLeft;
     Uint8 ucTriggerRight;
     Uint8 _rgucPad0[ 3 ];
-    Sint16 sGyroX;
-    Sint16 sGyroY;
-    Sint16 sGyroZ;
-    Sint16 sAccelX;
-    Sint16 sAccelY;
-    Sint16 sAccelZ;
+    Uint8 rgucGyroX[2];
+    Uint8 rgucGyroY[2];
+    Uint8 rgucGyroZ[2];
+    Uint8 rgucAccelX[2];
+    Uint8 rgucAccelY[2];
+    Uint8 rgucAccelZ[2];
     Uint8 _rgucPad1[ 5 ];
     Uint8 ucBatteryLevel;
     Uint8 _rgucPad2[ 4 ];
@@ -102,11 +113,20 @@ typedef struct
     Uint8 ucVolumeSpeaker;
 } DS4EffectsState_t;
 
+typedef struct {
+    Sint16 bias;
+    float sensitivity;
+} IMUCalibrationData;
+
 typedef struct {
     SDL_bool is_dongle;
     SDL_bool is_bluetooth;
+    SDL_bool official_controller;
     SDL_bool audio_supported;
     SDL_bool effects_supported;
+    SDL_bool report_sensors;
+    SDL_bool hardware_calibration;
+    IMUCalibrationData calibration[6];
     int player_index;
     Uint8 rumble_left;
     Uint8 rumble_right;
@@ -191,6 +211,168 @@ HIDAPI_DriverPS4_GetDevicePlayerIndex(SDL_HIDAPI_Device *device, SDL_JoystickID
     return -1;
 }
 
+static void
+HIDAPI_DriverPS4_LoadCalibrationData(SDL_HIDAPI_Device *device)
+{
+    SDL_DriverPS4_Context *ctx = (SDL_DriverPS4_Context *)device->context;
+    int i, tries, size;
+    SDL_bool have_data = SDL_FALSE;
+    Uint8 data[USB_PACKET_LENGTH];
+
+    if (!ctx->official_controller) {
+#ifdef DEBUG_PS4_CALIBRATION
+        SDL_Log("Not an official controller, ignoring calibration\n");
+#endif
+        return;
+    }
+
+    for( tries = 0; tries < 5; ++tries ) {
+        /* For Bluetooth controllers, this report switches them into advanced report mode */
+        size = ReadFeatureReport(device->dev, k_ePS4FeatureReportIdGyroCalibration_USB, data, sizeof(data));
+        if (size < 35) {
+#ifdef DEBUG_PS4_CALIBRATION
+            SDL_Log("Short read of calibration data: %d, ignoring calibration\n", size);
+#endif
+            return;
+        }
+
+        if (ctx->is_bluetooth) {
+            size = ReadFeatureReport(device->dev, k_ePS4FeatureReportIdGyroCalibration_BT, data, sizeof(data));
+            if (size < 35) {
+#ifdef DEBUG_PS4_CALIBRATION
+                SDL_Log("Short read of calibration data: %d, ignoring calibration\n", size);
+#endif
+                return;
+            }
+        }
+
+        /* In some cases this report returns all zeros. Usually immediately after connection with the PS4 Dongle */
+        for (i = 0; i < size; ++i) {
+            if (data[i]) {
+                have_data = SDL_TRUE;
+                break;
+            }
+        }
+        if (have_data) {
+            break;
+        }
+
+        SDL_Delay(2);
+    }
+
+    if (have_data) {
+        Sint16 sGyroPitchBias, sGyroYawBias, sGyroRollBias;
+        Sint16 sGyroPitchPlus, sGyroPitchMinus;
+        Sint16 sGyroYawPlus, sGyroYawMinus;
+        Sint16 sGyroRollPlus, sGyroRollMinus;
+        Sint16 sGyroSpeedPlus, sGyroSpeedMinus;
+
+        Sint16 sAccXPlus, sAccXMinus;
+        Sint16 sAccYPlus, sAccYMinus;
+        Sint16 sAccZPlus, sAccZMinus;
+
+        float flNumerator;
+        Sint16 sRange2g;
+
+#ifdef DEBUG_PS4_CALIBRATION
+        HIDAPI_DumpPacket("PS4 calibration packet: size = %d", data, size);
+#endif
+
+        sGyroPitchBias = LOAD16(data[1], data[2]);
+        sGyroYawBias = LOAD16(data[3], data[4]);
+        sGyroRollBias = LOAD16(data[5], data[6]);
+
+        if (ctx->is_bluetooth || ctx->is_dongle) {
+            sGyroPitchPlus = LOAD16(data[7], data[8]);
+            sGyroYawPlus = LOAD16(data[9], data[10]);
+            sGyroRollPlus = LOAD16(data[11], data[12]);
+            sGyroPitchMinus = LOAD16(data[13], data[14]);
+            sGyroYawMinus = LOAD16(data[15], data[16]);
+            sGyroRollMinus = LOAD16(data[17], data[18]);
+        } else {
+            sGyroPitchPlus = LOAD16(data[7], data[8]);
+            sGyroPitchMinus = LOAD16(data[9], data[10]);
+            sGyroYawPlus = LOAD16(data[11], data[12]);
+            sGyroYawMinus = LOAD16(data[13], data[14]);
+            sGyroRollPlus = LOAD16(data[15], data[16]);
+            sGyroRollMinus = LOAD16(data[17], data[18]);
+        }
+
+        sGyroSpeedPlus = LOAD16(data[19], data[20]);
+        sGyroSpeedMinus = LOAD16(data[21], data[22]);
+
+        sAccXPlus = LOAD16(data[23], data[24]);
+        sAccXMinus = LOAD16(data[25], data[26]);
+        sAccYPlus = LOAD16(data[27], data[28]);
+        sAccYMinus = LOAD16(data[29], data[30]);
+        sAccZPlus = LOAD16(data[31], data[32]);
+        sAccZMinus = LOAD16(data[33], data[34]);
+
+        flNumerator = (sGyroSpeedPlus + sGyroSpeedMinus) * GYRO_RES_PER_DEGREE;
+        ctx->calibration[0].bias = sGyroPitchBias;
+        ctx->calibration[0].sensitivity = flNumerator / (sGyroPitchPlus - sGyroPitchMinus);
+
+        ctx->calibration[1].bias = sGyroYawBias;
+        ctx->calibration[1].sensitivity = flNumerator / (sGyroYawPlus - sGyroYawMinus);
+
+        ctx->calibration[2].bias = sGyroRollBias;
+        ctx->calibration[2].sensitivity = flNumerator / (sGyroRollPlus - sGyroRollMinus);
+
+        sRange2g = sAccXPlus - sAccXMinus;
+        ctx->calibration[3].bias = sAccXPlus - sRange2g / 2;
+        ctx->calibration[3].sensitivity = 2.0f * ACCEL_RES_PER_G / (float)sRange2g;
+
+        sRange2g = sAccYPlus - sAccYMinus;
+        ctx->calibration[4].bias = sAccYPlus - sRange2g / 2;
+        ctx->calibration[4].sensitivity = 2.0f * ACCEL_RES_PER_G / (float)sRange2g;
+
+        sRange2g = sAccZPlus - sAccZMinus;
+        ctx->calibration[5].bias = sAccZPlus - sRange2g / 2;
+        ctx->calibration[5].sensitivity = 2.0f * ACCEL_RES_PER_G / (float)sRange2g;
+
+        ctx->hardware_calibration = SDL_TRUE;
+        for (i = 0; i < 6; ++i) {
+            float divisor = (i < 3 ? 64.0f : 1.0f);
+#ifdef DEBUG_PS4_CALIBRATION
+            SDL_Log("calibration[%d] bias = %d, sensitivity = %f\n", i, ctx->calibration[i].bias, ctx->calibration[i].sensitivity);
+#endif
+            /* Some controllers have a bad calibration */
+            if ((SDL_abs(ctx->calibration[i].bias) > 1024) || (SDL_fabs(1.0f - ctx->calibration[i].sensitivity / divisor) > 0.5f)) {
+#ifdef DEBUG_PS4_CALIBRATION
+                SDL_Log("invalid calibration, ignoring\n");
+#endif
+                ctx->hardware_calibration = SDL_FALSE;
+            }
+        }
+    } else {
+#ifdef DEBUG_PS4_CALIBRATION
+        SDL_Log("Calibration data not available\n");
+#endif
+    }
+}
+
+static float
+HIDAPI_DriverPS4_ApplyCalibrationData(SDL_DriverPS4_Context *ctx, int index, Sint16 value)
+{
+    float result;
+
+    if (ctx->hardware_calibration) {
+        IMUCalibrationData *calibration = &ctx->calibration[index];
+
+        result = (value - calibration->bias) * calibration->sensitivity;
+    } else {
+        result = value;
+    }
+
+    /* Convert the raw data to the units expected by SDL */
+    if (index < 3) {
+        result = (result / GYRO_RES_PER_DEGREE) * M_PI / 180.0f;
+    } else {
+        result = (result / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
+    }
+    return result;
+}
+
 static int
 HIDAPI_DriverPS4_UpdateEffects(SDL_HIDAPI_Device *device)
 {
@@ -286,37 +468,24 @@ HIDAPI_DriverPS4_OpenJoystick(SDL_HIDAPI_Device *device, SDL_Joystick *joystick)
     ctx->is_dongle = (device->vendor_id == USB_VENDOR_SONY && device->product_id == USB_PRODUCT_SONY_DS4_DONGLE);
     if (ctx->is_dongle) {
         ctx->is_bluetooth = SDL_FALSE;
+        ctx->official_controller = SDL_TRUE;
     } else if (device->vendor_id == USB_VENDOR_SONY) {
-        int i;
         Uint8 data[USB_PACKET_LENGTH];
-        int length;
+        int size;
 
         /* This will fail if we're on Bluetooth */
-        length = ReadFeatureReport(device->dev, k_ePS4FeatureReportIdSerialNumber, data, sizeof(data));
-        if (length >= 7) {
-            SDL_bool had_data = SDL_FALSE;
-
-            for (i = 0; i < length; ++i) {
-                if (data[i] != 0x00) {
-                    had_data = SDL_TRUE;
-                    break;
-                }
-            }
-
-            if (had_data) {
-                char serial[18];
-
-                SDL_snprintf(serial, sizeof(serial), "%.2x-%.2x-%.2x-%.2x-%.2x-%.2x",
-                    data[6], data[5], data[4], data[3], data[2], data[1]);
-                joystick->serial = SDL_strdup(serial);
-            } else {
-                /* Maybe the dongle without a connected controller? */
-            }
+        size = ReadFeatureReport(device->dev, k_ePS4FeatureReportIdSerialNumber, data, sizeof(data));
+        if (size >= 7) {
+            char serial[18];
 
+            SDL_snprintf(serial, sizeof(serial), "%.2x-%.2x-%.2x-%.2x-%.2x-%.2x",
+                data[6], data[5], data[4], data[3], data[2], data[1]);
+            joystick->serial = SDL_strdup(serial);
             ctx->is_bluetooth = SDL_FALSE;
         } else {
             ctx->is_bluetooth = SDL_TRUE;
         }
+        ctx->official_controller = SDL_TRUE;
     } else {
         /* Third party controllers appear to all be wired */
         ctx->is_bluetooth = SDL_FALSE;
@@ -351,6 +520,8 @@ HIDAPI_DriverPS4_OpenJoystick(SDL_HIDAPI_Device *device, SDL_Joystick *joystick)
     joystick->epowerlevel = SDL_JOYSTICK_POWER_WIRED;
 
     SDL_PrivateJoystickAddTouchpad(joystick, 2);
+    SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO);
+    SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL);
 
     return SDL_TRUE;
 }
@@ -391,6 +562,19 @@ HIDAPI_DriverPS4_SetJoystickLED(SDL_HIDAPI_Device *device, SDL_Joystick *joystic
     return HIDAPI_DriverPS4_UpdateEffects(device);
 }
 
+static int
+HIDAPI_DriverPS4_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, SDL_bool enabled)
+{
+    SDL_DriverPS4_Context *ctx = (SDL_DriverPS4_Context *)device->context;
+
+    if (enabled) {
+        HIDAPI_DriverPS4_LoadCalibrationData(device);
+    }
+    ctx->report_sensors = enabled;
+
+    return 0;
+}
+
 static void
 HIDAPI_DriverPS4_HandleStatePacket(SDL_Joystick *joystick, hid_device *dev, SDL_DriverPS4_Context *ctx, PS4StatePacket_t *packet)
 {
@@ -521,6 +705,20 @@ HIDAPI_DriverPS4_HandleStatePacket(SDL_Joystick *joystick, hid_device *dev, SDL_
     touchpad_y = (packet->rgucTouchpadData2[1] >> 4) | ((int)packet->rgucTouchpadData2[2] << 4);
     SDL_PrivateJoystickTouchpad(joystick, 0, 1, touchpad_state, touchpad_x * TOUCHPAD_SCALEX, touchpad_y * TOUCHPAD_SCALEY, touchpad_state ? 1.0f : 0.0f);
 
+    if (ctx->report_sensors) {
+        float data[3];
+
+        data[0] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 0, LOAD16(packet->rgucGyroX[0], packet->rgucGyroX[1]));
+        data[1] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 1, LOAD16(packet->rgucGyroY[0], packet->rgucGyroY[1]));
+        data[2] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 2, LOAD16(packet->rgucGyroZ[0], packet->rgucGyroZ[1]));
+        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, data, 3);
+
+        data[0] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 3, LOAD16(packet->rgucAccelX[0], packet->rgucAccelX[1]));
+        data[1] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 4, LOAD16(packet->rgucAccelY[0], packet->rgucAccelY[1]));
+        data[2] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 5, LOAD16(packet->rgucAccelZ[0], packet->rgucAccelZ[1]));
+        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, data, 3);
+    }
+
     SDL_memcpy(&ctx->last_state, packet, sizeof(ctx->last_state));
 }
 
@@ -540,6 +738,9 @@ HIDAPI_DriverPS4_UpdateDevice(SDL_HIDAPI_Device *device)
     }
 
     while ((size = hid_read_timeout(device->dev, data, sizeof(data), 0)) > 0) {
+#ifdef DEBUG_PS4_PROTOCOL
+        HIDAPI_DumpPacket("PS4 packet: size = %d", data, size);
+#endif
         switch (data[0]) {
         case k_EPS4ReportIdUsbState:
             HIDAPI_DriverPS4_HandleStatePacket(joystick, device->dev, ctx, (PS4StatePacket_t *)&data[1]);
@@ -603,6 +804,7 @@ SDL_HIDAPI_DeviceDriver SDL_HIDAPI_DriverPS4 =
     HIDAPI_DriverPS4_RumbleJoystickTriggers,
     HIDAPI_DriverPS4_HasJoystickLED,
     HIDAPI_DriverPS4_SetJoystickLED,
+    HIDAPI_DriverPS4_SetJoystickSensorsEnabled,
     HIDAPI_DriverPS4_CloseJoystick,
     HIDAPI_DriverPS4_FreeDevice,
     NULL
diff --git a/src/joystick/hidapi/SDL_hidapi_ps5.c b/src/joystick/hidapi/SDL_hidapi_ps5.c
index 6580a29b3..833a29998 100644
--- a/src/joystick/hidapi/SDL_hidapi_ps5.c
+++ b/src/joystick/hidapi/SDL_hidapi_ps5.c
@@ -72,8 +72,12 @@ typedef struct
     Uint8 rgucButtonsAndHat[3];         /* 7 */
     Uint8 ucZero;                       /* 10 */
     Uint8 rgucPacketSequence[4];        /* 11 - 32 bit little endian */
-    Uint8 rgucAccel[6];                 /* 15 */
-    Uint8 rgucGyro[6];                  /* 21 */
+    Uint8 rgucGyroX[2];                 /* 15 */
+    Uint8 rgucGyroY[2];                 /* 17 */
+    Uint8 rgucGyroZ[2];                 /* 19 */
+    Uint8 rgucAccelX[2];                /* 21 */
+    Uint8 rgucAccelY[2];                /* 23 */
+    Uint8 rgucAccelZ[2];                /* 25 */
     Uint8 rgucTimer1[4];                /* 27 - 32 bit little endian */
     Uint8 ucBatteryTemp;                /* 31 */
     Uint8 ucTouchpadCounter1;           /* 32 - high bit clear + counter */
@@ -351,6 +355,12 @@ HIDAPI_DriverPS5_SetJoystickLED(SDL_HIDAPI_Device *device, SDL_Joystick *joystic
     return HIDAPI_DriverPS5_UpdateEffects(device);
 }
 
+static int
+HIDAPI_DriverPS5_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, SDL_bool enabled)
+{
+    return 0;
+}
+
 static void
 HIDAPI_DriverPS5_HandleSimpleStatePacket(SDL_Joystick *joystick, hid_device *dev, SDL_DriverPS5_Context *ctx, PS5SimpleStatePacket_t *packet)
 {
@@ -649,6 +659,7 @@ SDL_HIDAPI_DeviceDriver SDL_HIDAPI_DriverPS5 =
     HIDAPI_DriverPS5_RumbleJoystickTriggers,
     HIDAPI_DriverPS5_HasJoystickLED,
     HIDAPI_DriverPS5_SetJoystickLED,
+    HIDAPI_DriverPS5_SetJoystickSensorsEnabled,
     HIDAPI_DriverPS5_CloseJoystick,
     HIDAPI_DriverPS5_FreeDevice,
     NULL
diff --git a/src/joystick/hidapi/SDL_hidapi_steam.c b/src/joystick/hidapi/SDL_hidapi_steam.c
index be3aeb681..0ae4d2243 100644
--- a/src/joystick/hidapi/SDL_hidapi_steam.c
+++ b/src/joystick/hidapi/SDL_hidapi_steam.c
@@ -1054,6 +1054,13 @@ HIDAPI_DriverSteam_SetJoystickLED(SDL_HIDAPI_Device *device, SDL_Joystick *joyst
     return SDL_Unsupported();
 }
 
+static int
+HIDAPI_DriverSteam_SetSensorsEnabled(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, SDL_bool enabled)
+{
+    /* You should use the full Steam Input API for sensor support */
+    return SDL_Unsupported();
+}
+
 static SDL_bool
 HIDAPI_DriverSteam_UpdateDevice(SDL_HIDAPI_Device *device)
 {
@@ -1191,6 +1198,7 @@ SDL_HIDAPI_DeviceDriver SDL_HIDAPI_DriverSteam =
     HIDAPI_DriverSteam_RumbleJoystickTriggers,
     HIDAPI_DriverSteam_HasJoystickLED,
     HIDAPI_DriverSteam_SetJoystickLED,
+    HIDAPI_DriverSteam_SetSensorsEnabled,
     HIDAPI_DriverSteam_CloseJoystick,
     HIDAPI_DriverSteam_FreeDevice,
     NULL
diff --git a/src/joystick/hidapi/SDL_hidapi_switch.c b/src/joystick/hidapi/SDL_hidapi_switch.c
index 0d9c1f208..16e1e242f 100644
--- a/src/joystick/hidapi/SDL_hidapi_switch.c
+++ b/src/joystick/hidapi/SDL_hidapi_switch.c
@@ -942,6 +942,12 @@ HIDAPI_DriverSwitch_SetJoystickLED(SDL_HIDAPI_Device *device, SDL_Joystick *joys
     return SDL_Unsupported();
 }
 
+static int
+HIDAPI_DriverSwitch_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, SDL_bool enabled)
+{
+    return SDL_Unsupported();
+}
+
 static void HandleInputOnlyControllerState(SDL_Joystick *joystick, SDL_DriverSwitch_Context *ctx, SwitchInputOnlyControllerStatePacket_t *packet)
 {
     Sint16 axis;
@@ -1298,6 +1304,7 @@ SDL_HIDAPI_DeviceDriver SDL_HIDAPI_DriverSwitch =
     HIDAPI_DriverSwitch_RumbleJoystickTriggers,
     HIDAPI_DriverSwitch_HasJoystickLED,
     HIDAPI_DriverSwitch_SetJoystickLED,
+    HIDAPI_DriverSwitch_SetJoystickSensorsEnabled,
     HIDAPI_DriverSwitch_CloseJoystick,
     HIDAPI_DriverSwitch_FreeDevice,
     NULL
diff --git a/src/joystick/hidapi/SDL_hidapi_xbox360.c b/src/joystick/hidapi/SDL_hidapi_xbox360.c
index 77efb4c1a..dfc7c31a4 100644
--- a/src/joystick/hidapi/SDL_hidapi_xbox360.c
+++ b/src/joystick/hidapi/SDL_hidapi_xbox360.c
@@ -815,6 +815,12 @@ HIDAPI_DriverXbox360_SetJoystickLED(SDL_HIDAPI_Device *device, SDL_Joystick *joy
     return SDL_Unsupported();
 }
 
+static int
+HIDAPI_DriverXbox360_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, SDL_bool enabled)
+{
+    return SDL_Unsupported();
+}
+
 #ifdef __WIN32__
  /* This is the packet format for Xbox 360 and Xbox One controllers on Windows,
     however with this interface there is no rumble support, no guide button,
@@ -1326,6 +1332,7 @@ SDL_HIDAPI_DeviceDriver SDL_HIDAPI_DriverXbox360 =
     HIDAPI_DriverXbox360_RumbleJoystickTriggers,
     HIDAPI_DriverXbox360_HasJoystickLED,
     HIDAPI_DriverXbox360_SetJoystickLED,
+    HIDAPI_DriverXbox360_SetJoystickSensorsEnabled,
     HIDAPI_DriverXbox360_CloseJoystick,
     HIDAPI_DriverXbox360_FreeDevice,
     HIDAPI_DriverXbox360_PostUpdate,
diff --git a/src/joystick/hidapi/SDL_hidapi_xbox360w.c b/src/joystick/hidapi/SDL_hidapi_xbox360w.c
index 3fe06eb2e..294139cf2 100644
--- a/src/joystick/hidapi/SDL_hidapi_xbox360w.c
+++ b/src/joystick/hidapi/SDL_hidapi_xbox360w.c
@@ -176,6 +176,12 @@ HIDAPI_DriverXbox360W_SetJoystickLED(SDL_HIDAPI_Device *device, SDL_Joystick *jo
     return SDL_Unsupported();
 }
 
+static int
+HIDAPI_DriverXbox360W_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, SDL_bool enabled)
+{
+    return SDL_Unsupported();
+}
+
 static void
 HIDAPI_DriverXbox360W_HandleStatePacket(SDL_Joystick *joystick, hid_device *dev, SDL_DriverXbox360W_Context *ctx, Uint8 *data, int size)
 {
@@ -316,6 +322,7 @@ SDL_HIDAPI_DeviceDriver SDL_HIDAPI_DriverXbox360W =
     HIDAPI_DriverXbox360W_RumbleJoystickTriggers,
     HIDAPI_DriverXbox360W_HasJoystickLED,
     HIDAPI_DriverXbox360W_SetJoystickLED,
+    HIDAPI_DriverXbox360W_SetJoystickSensorsEnabled,
     HIDAPI_DriverXbox360W_CloseJoystick,
     HIDAPI_DriverXbox360W_FreeDevice,
     NULL
diff --git a/src/joystick/hidapi/SDL_hidapi_xboxone.c b/src/joystick/hidapi/SDL_hidapi_xboxone.c
index 9e622dd0a..3f89ac653 100644
--- a/src/joystick/hidapi/SDL_hidapi_xboxone.c
+++ b/src/joystick/hidapi/SDL_hidapi_xboxone.c
@@ -406,6 +406,12 @@ HIDAPI_DriverXboxOne_SetJoystickLED(SDL_HIDAPI_Device *device, SDL_Joystick *joy
     return SDL_Unsupported();
 }
 
+static int
+HIDAPI_DriverXboxOne_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, SDL_bool enabled)
+{
+    return SDL_Unsupported();
+}
+
 static void
 HIDAPI_DriverXboxOne_HandleStatePacket(SDL_Joystick *joystick, hid_device *dev, SDL_DriverXboxOne_Context *ctx, Uint8 *data, int size)
 {
@@ -934,6 +940,7 @@ SDL_HIDAPI_DeviceDriver SDL_HIDAPI_DriverXboxOne =
     HIDAPI_DriverXboxOne_RumbleJoystickTriggers,
     HIDAPI_DriverXboxOne_HasJoystickLED,
     HIDAPI_DriverXboxOne_SetJoystickLED,
+    HIDAPI_DriverXboxOne_SetJoystickSensorsEnabled,
     HIDAPI_DriverXboxOne_CloseJoystick,
     HIDAPI_DriverXboxOne_FreeDevice,
     NULL
diff --git a/src/joystick/hidapi/SDL_hidapijoystick.c b/src/joystick/hidapi/SDL_hidapijoystick.c
index 9d7f65b94..f303440ee 100644
--- a/src/joystick/hidapi/SDL_hidapijoystick.c
+++ b/src/joystick/hidapi/SDL_hidapijoystick.c
@@ -1130,6 +1130,23 @@ HIDAPI_JoystickSetLED(SDL_Joystick * joystick, Uint8 red, Uint8 green, Uint8 blu
     return result;
 }
 
+static int
+HIDAPI_JoystickSetSensorsEnabled(SDL_Joystick * joystick, SDL_bool enabled)
+{
+    int result;
+
+    if (joystick->hwdata) {
+        SDL_HIDAPI_Device *device = joystick->hwdata->device;
+
+        result = device->driver->SetJoystickSensorsEnabled(device, joystick, enabled);
+    } else {
+        SDL_SetError("SetSensorsEnabled failed, device disconnected");
+        result = -1;
+    }
+
+    return result;
+}
+
 static void
 HIDAPI_JoystickUpdate(SDL_Joystick * joystick)
 {
@@ -1206,6 +1223,7 @@ SDL_JoystickDriver SDL_HIDAPI_JoystickDriver =
     HIDAPI_JoystickRumbleTriggers,
     HIDAPI_JoystickHasLED,
     HIDAPI_JoystickSetLED,
+    HIDAPI_JoystickSetSensorsEnabled,
     HIDAPI_JoystickUpdate,
     HIDAPI_JoystickClose,
     HIDAPI_JoystickQuit,
diff --git a/src/joystick/hidapi/SDL_hidapijoystick_c.h b/src/joystick/hidapi/SDL_hidapijoystick_c.h
index f84c1ec3f..f5c995176 100644
--- a/src/joystick/hidapi/SDL_hidapijoystick_c.h
+++ b/src/joystick/hidapi/SDL_hidapijoystick_c.h
@@ -99,6 +99,7 @@ typedef struct _SDL_HIDAPI_DeviceDriver
     int (*RumbleJoystickTriggers)(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, Uint16 left_rumble, Uint16 right_rumble);
     SDL_bool (*HasJoystickLED)(SDL_HIDAPI_Device *device, SDL_Joystick *joystick);
     int (*SetJoystickLED)(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, Uint8 red, Uint8 green, Uint8 blue);
+    int (*SetJoystickSensorsEnabled)(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, SDL_bool enabled);
     void (*CloseJoystick)(SDL_HIDAPI_Device *device, SDL_Joystick *joystick);
     void (*FreeDevice)(SDL_HIDAPI_Device *device);
     void (*PostUpdate)(void);
diff --git a/src/joystick/iphoneos/SDL_sysjoystick.m b/src/joystick/iphoneos/SDL_sysjoystick.m
index 8946762d8..3a4c73f39 100644
--- a/src/joystick/iphoneos/SDL_sysjoystick.m
+++ b/src/joystick/iphoneos/SDL_sysjoystick.m
@@ -79,6 +79,7 @@ static id disconnectObserver = nil;
 #define ENABLE_MFI_BATTERY
 #define ENABLE_MFI_RUMBLE
 #define ENABLE_MFI_LIGHT
+#define ENABLE_MFI_SENSORS
 #define ENABLE_PHYSICAL_INPUT_PROFILE
 #endif
 
@@ -569,7 +570,7 @@ IOS_JoystickGetDeviceInstanceID(int device_index)
 }
 
 static int
-IOS_JoystickOpen(SDL_Joystick * joystick, int device_index)
+IOS_JoystickOpen(SDL_Joystick *joystick, int device_index)
 {
     SDL_JoystickDeviceItem *device = GetDeviceForIndex(device_index);
     if (device == NULL) {
@@ -611,6 +612,20 @@ IOS_JoystickOpen(SDL_Joystick * joystick, int device_index)
                     }
                 };
             }
+
+#ifdef ENABLE_MFI_SENSORS
+            if (@available(iOS 14.0, tvOS 14.0, *)) {
+                GCController *controller = joystick->hwdata->controller;
+                GCMotion *motion = controller.motion;
+                if (motion && motion.hasRotationRate) {
+                    SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO);
+                }
+                if (motion && motion.hasGravityAndUserAcceleration) {
+                    SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL);
+                }
+            }
+#endif /* ENABLE_MFI_SENSORS */
+
 #endif /* SDL_JOYSTICK_MFI */
         }
     }
@@ -622,7 +637,7 @@ IOS_JoystickOpen(SDL_Joystick * joystick, int device_index)
 }
 
 static void
-IOS_AccelerometerUpdate(SDL_Joystick * joystick)
+IOS_AccelerometerUpdate(SDL_Joystick *joystick)
 {
 #if !TARGET_OS_TV
     const float maxgforce = SDL_IPHONE_MAX_GFORCE;
@@ -692,7 +707,7 @@ IOS_MFIJoystickHatStateForDPad(GCControllerDirectionPad *dpad)
 #endif
 
 static void
-IOS_MFIJoystickUpdate(SDL_Joystick * joystick)
+IOS_MFIJoystickUpdate(SDL_Joystick *joystick)
 {
 #if SDL_JOYSTICK_MFI
     @autoreleasepool {
@@ -806,6 +821,31 @@ IOS_MFIJoystickUpdate(SDL_Joystick * joystick)
             for (i = 0; i < button_count; i++) {
                 SDL_PrivateJoystickButton(joystick, i, buttons[i]);
             }
+
+#ifdef ENABLE_MFI_SENSORS
+            if (@available(iOS 14.0, tvOS 14.0, *)) {
+                GCMotion *motion = controller.motion;
+                if (motion && motion.sensorsActive) {
+                    float data[3];
+
+                    if (motion.hasRotationRate) {
+                        GCRotationRate rate = motion.rotationRate;
+                        data[0] = rate.x;
+                        data[1] = rate.z;
+                        data[2] = -rate.y;
+                        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, data, 3);
+                    }
+                    if (motion.hasGravityAndUserAcceleration) {
+                        GCAcceleration accel = motion.acceleration;
+                        data[0] = -accel.x * SDL_STANDARD_GRAVITY;
+                        data[1] = -accel.y * SDL_STANDARD_GRAVITY;
+                        data[2] = -accel.z * SDL_STANDARD_GRAVITY;
+                        SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, data, 3);
+                    }
+                }
+            }
+#endif /* ENABLE_MFI_SENSORS */
+
         } else if (controller.gamepad) {
             GCGamepad *gamepad = controller.gamepad;
 
@@ -1103,7 +1143,7 @@ static SDL_RumbleContext *IOS_JoystickInitRumble(GCController *controller)
 #endif /* ENABLE_MFI_RUMBLE */
 
 static int
-IOS_JoystickRumble(SDL_Joystick * joystick, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble)
+IOS_JoystickRumble(SDL_Joystick *joystick, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble)
 {
 #ifdef ENABLE_MFI_RUMBLE
     SDL_JoystickDeviceItem *device = joystick->hwdata;
@@ -1129,7 +1169,7 @@ IOS_JoystickRumble(SDL_Joystick * joystick, Uint16 low_frequency_rumble, Uint16
 }
 
 static int
-IOS_JoystickRumbleTriggers(SDL_Joystick * joystick, Uint16 left_rumble, Uint16 right_rumble)
+IOS_JoystickRumbleTriggers(SDL_Joystick *joystick, Uint16 left_rumble, Uint16 right_rumble)
 {
 #ifdef ENABLE_MFI_RUMBLE
     SDL_JoystickDeviceItem *device = joystick->hwdata;
@@ -1155,7 +1195,7 @@ IOS_JoystickRumbleTriggers(SDL_Joystick * joystick, Uint16 left_rumble, Uint16 r
 }
 
 static SDL_bool
-IOS_JoystickHasLED(SDL_Joystick * joystick)
+IOS_JoystickHasLED(SDL_Joystick *joystick)
 {
 #ifdef ENABLE_MFI_LIGHT
     @autoreleasepool {
@@ -1173,7 +1213,7 @@ IOS_JoystickHasLED(SDL_Joystick * joystick)
 }
 
 static int
-IOS_JoystickSetLED(SDL_Joystick * joystick, Uint8 red, Uint8 green, Uint8 blue)
+IOS_JoystickSetLED(SDL_Joystick *joystick, Uint8 red, Uint8 green, Uint8 blue)
 {
 #ifdef ENABLE_MFI_LIGHT
     @autoreleasepool {
@@ -1193,8 +1233,27 @@ IOS_JoystickSetLED(SDL_Joystick * joystick, Uint8 red, Uint8 green, Uint8 blue)
     return SDL_Unsupported();
 }
 
+static int
+IOS_JoystickSetSensorsEnabled(SDL_Joystick *joystick, SDL_bool enabled)
+{
+#ifdef ENABLE_MFI_SENSORS
+    @autoreleasepool {
+        if (@available(iOS 14.0, tvOS 14.0, *)) {
+            GCController *controller = joystick->hwdata->controller;
+            GCMotion *motion = controller.motion;
+            if (motion) {
+                motion.sensorsActive = enabled ? YES : NO;
+                return 0;
+            }
+        }
+    }
+#endif /* ENABLE_MFI_SENSORS */
+
+    return SDL_Unsupported();
+}
+
 static void
-IOS_JoystickUpdate(SDL_Joystick * joystick)
+IOS_JoystickUpdate(SDL_Joystick *joystick)
 {
     SDL_JoystickDeviceItem *device = joystick->hwdata;
 
@@ -1210,7 +1269,7 @@ IOS_JoystickUpdate(SDL_Joystick * joystick)
 }
 
 static void
-IOS_JoystickClose(SDL_Joystick * joystick)
+IOS_JoystickClose(SDL_Joystick *joystick)
 {
     SDL_JoystickDeviceItem *device = joystick->hwdata;
 
@@ -1304,6 +1363,7 @@ SDL_JoystickDriver SDL_IOS_JoystickDriver =
     IOS_JoystickRumbleTriggers,
     IOS_JoystickHasLED,
     IOS_JoystickSetLED,
+    IOS_JoystickSetSensorsEnabled,
     IOS_JoystickUpdate,
     IOS_JoystickClose,
     IOS_JoystickQuit,
diff --git a/src/joystick/linux/SDL_sysjoystick.c b/src/joystick/linux/SDL_sysjoystick.c
index 782f696b1..76b83c6e5 100644
--- a/src/joystick/linux/SDL_sysjoystick.c
+++ b/src/joystick/linux/SDL_sysjoystick.c
@@ -764,7 +764,7 @@ LINUX_JoystickGetDeviceInstanceID(int device_index)
 }
 
 static int
-allocate_hatdata(SDL_Joystick * joystick)
+allocate_hatdata(SDL_Joystick *joystick)
 {
     int i;
 
@@ -782,7 +782,7 @@ allocate_hatdata(SDL_Joystick * joystick)
 }
 
 static int
-allocate_balldata(SDL_Joystick * joystick)
+allocate_balldata(SDL_Joystick *joystick)
 {
     int i;
 
@@ -800,7 +800,7 @@ allocate_balldata(SDL_Joystick * joystick)
 }
 
 static void
-ConfigJoystick(SDL_Joystick * joystick, int fd)
+ConfigJoystick(SDL_Joystick *joystick, int fd)
 {
     int i, t;
     unsigned long keybit[NBITS(KEY_MAX)] = { 0 };
@@ -926,7 +926,7 @@ ConfigJoystick(SDL_Joystick * joystick, int fd)
    It returns 0, or -1 if there is an error.
  */
 static int
-LINUX_JoystickOpen(SDL_Joystick * joystick, int device_index)
+LINUX_JoystickOpen(SDL_Joystick *joystick, int device_index)
 {
     SDL_joylist_item *item = JoystickByDevIndex(device_index);
 
@@ -985,7 +985,7 @@ LINUX_JoystickOpen(SDL_Joystick * joystick, int device_index)
 }
 
 static int
-LINUX_JoystickRumble(SDL_Joystick * joystick, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble)
+LINUX_JoystickRumble(SDL_Joystick *joystick, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble)
 {
     struct input_event event;
 
@@ -1027,25 +1027,31 @@ LINUX_JoystickRumble(SDL_Joystick * joystick, Uint16 low_frequency_rumble, Uint1
 }
 
 static int
-LINUX_JoystickRumbleTriggers(SDL_Joystick * joystick, Uint16 left_rumble, Uint16 right_rumble)
+LINUX_JoystickRumbleTriggers(SDL_Joystick *joystick, Uint16 left_rumble, Uint16 right_rumble)
 {
     return SDL_Unsupported();
 }
 
 static SDL_bool
-LINUX_JoystickHasLED(SDL_Joystick * joystick)
+LINUX_JoystickHasLED(SDL_Joystick *joystick)
 {
     return SDL_FALSE;
 }
 
 static int
-LINUX_JoystickSetLED(SDL_Joystick * joystick, Uint8 red, Uint8 green, Uint8 blue)
+LINUX_JoystickSetLED(SDL_Joystick *joystick, Uint8 red, Uint8 green, Uint8 blue)
+{
+    return SDL_Unsupported();
+}
+
+static int
+LINUX_JoystickSetSensorsEnabled(SDL_Joystick *joystick, SDL_bool enabled)
 {
     return SDL_Unsupported();
 }
 
 static SDL_INLINE void
-HandleHat(SDL_Joystick * stick, Uint8 hat, int axis, int value)
+HandleHat(SDL_Joystick *stick, Uint8 hat, int axis, int value)
 {
     struct hwdata_hat *the_hat;
     const Uint8 position_map[3][3] = {
@@ -1070,14 +1076,14 @@ HandleHat(SDL_Joystick * stick, Uint8 hat, int axis, int value)
 }
 
 static SDL_INLINE void
-HandleBall(SDL_Joystick * stick, Uint8 ball, int axis, int value)
+HandleBall(SDL_Joystick *stick, Uint8 ball, int axis, int value)
 {
     stick->hwdata->balls[ball].axis[axis] += value;
 }
 
 
 static SDL_INLINE int
-AxisCorrect(SDL_Joystick * joystick, int which, int value)
+AxisCorrect(SDL_Joystick *joystick, int which, int value)
 {
     struct axis_correct *correct;
 
@@ -1106,7 +1112,7 @@ AxisCorrect(SDL_Joystick * joystick, int which, int value)
 }
 
 static SDL_INLINE void
-PollAllValues(SDL_Joystick * joystick)
+PollAllValues(SDL_Joystick *joystick)
 {
     struct input_absinfo absinfo;
     unsigned long keyinfo[NBITS(KEY_MAX)];
@@ -1166,7 +1172,7 @@ PollAllValues(SDL_Joystick * joystick)
 }
 
 static SDL_INLINE void
-HandleInputEvents(SDL_Joystick * joystick)
+HandleInputEvents(SDL_Joystick *joystick)
 {
     struct input_event events[32];
     int i, len;
@@ -1260,7 +1266,7 @@ HandleInputEvents(SDL_Joystick * joystick)
 }
 
 static void
-LINUX_JoystickUpdate(SDL_Joystick * joystick)
+LINUX_JoystickUpdate(SDL_Joystick *joystick)
 {
     int i;
 
@@ -1287,7 +1293,7 @@ LINUX_JoystickUpdate(SDL_Joystick * joystick)
 
 /* Function to close a joystick after use */
 static void
-LINUX_JoystickClose(SDL_Joystick * joystick)
+LINUX_JoystickClose(SDL_Joystick *joystick)
 {
     if (joystick->hwdata) {
         if (joystick->hwdata->effect.id >= 0) {
@@ -1345,7 +1351,7 @@ LINUX_JoystickQuit(void)
 static SDL_bool
 LINUX_JoystickGetGamepadMapping(int device_index, SDL_GamepadMapping *out)
 {
-    SDL_Joystick * joystick;
+    SDL_Joystick *joystick;
 
     joystick = (SDL_Joystick *) SDL_calloc(sizeof(*joystick), 1);
     if (joystick == NULL) {
@@ -1527,6 +1533,7 @@ SDL_JoystickDriver SDL_LINUX_JoystickDriver =
     LINUX_JoystickRumbleTriggers,
     LINUX_JoystickHasLED,
     LINUX_JoystickSetLED,
+    LINUX_JoystickSetSensorsEnabled,
     LINUX_JoystickUpdate,
     LINUX_JoystickClose,
     LINUX_JoystickQuit,
diff --git a/src/joystick/virtual/SDL_virtualjoystick.c b/src/joystick/virtual/SDL_virtualjoystick.c
index 9d441d7e8..e140b4fa0 100644
--- a/src/joystick/virtual/SDL_virtualjoystick.c
+++ b/src/joystick/virtual/SDL_virtualjoystick.c
@@ -358,6 +358,12 @@ VIRTUAL_JoystickSetLED(SDL_Joystick * joystick, Uint8 red, Uint8 green, Uint8 bl
     return SDL_Unsupported();
 }
 
+static int
+VIRTUAL_JoystickSetSensorsEnabled(SDL_Joystick *joystick, SDL_bool enabled)
+{
+    return SDL_Unsupported();
+}
+
 
 static void
 VIRTUAL_JoystickUpdate(SDL_Joystick * joystick)
@@ -432,6 +438,7 @@ SDL_JoystickDriver SDL_VIRTUAL_JoystickDriver =
     VIRTUAL_JoystickRumbleTriggers,
     VIRTUAL_JoystickHasLED,
     VIRTUAL_JoystickSetLED,
+    VIRTUAL_JoystickSetSensorsEnabled,
     VIRTUAL_JoystickUpdate,
     VIRTUAL_JoystickClose,
     VIRTUAL_JoystickQuit,
diff --git a/src/joystick/windows/SDL_rawinputjoystick.c b/src/joystick/windows/SDL_rawinputjoystick.c
index b8f2d5f5c..4bd0f5d08 100644
--- a/src/joystick/windows/SDL_rawinputjoystick.c
+++ b/src/joystick/windows/SDL_rawinputjoystick.c
@@ -635,6 +635,12 @@ RAWINPUT_JoystickSetLED(SDL_Joystick * joystick, Uint8 red, Uint8 green, Uint8 b
     return SDL_Unsupported();
 }
 
+static int
+RAWINPUT_JoystickSetSensorsEnabled(SDL_Joystick *joystick, SDL_bool enabled)
+{
+    return SDL_Unsupported();
+}
+
 
 static void
 RAWINPUT_JoystickUpdate(SDL_Joystick * joystick)
@@ -768,6 +774,7 @@ SDL_JoystickDriver SDL_RAWINPUT_JoystickDriver =
     RAWINPUT_JoystickRumbleTriggers,
     RAWINPUT_JoystickHasLED,
     RAWINPUT_JoystickSetLED,
+    RAWINPUT_JoystickSetSensorsEnabled,
     RAWINPUT_JoystickUpdate,
     RAWINPUT_JoystickClose,
     RAWINPUT_JoystickQuit,
diff --git a/src/joystick/windows/SDL_windows_gaming_input.c b/src/joystick/windows/SDL_windows_gaming_input.c
index 4aedf0d7a..1af18af72 100644
--- a/src/joystick/windows/SDL_windows_gaming_input.c
+++ b/src/joystick/windows/SDL_windows_gaming_input.c
@@ -607,6 +607,12 @@ WGI_JoystickSetLED(SDL_Joystick * joystick, Uint8 red, Uint8 green, Uint8 blue)
     return SDL_Unsupported();
 }
 
+static int
+WGI_JoystickSetSensorsEnabled(SDL_Joystick *joystick, SDL_bool enabled)
+{
+    return SDL_Unsupported();
+}
+
 static Uint8
 ConvertHatValue(__x_ABI_CWindows_CGaming_CInput_CGameControllerSwitchPosition value)
 {
@@ -752,6 +758,7 @@ SDL_JoystickDriver SDL_WGI_JoystickDriver =
     WGI_JoystickRumbleTriggers,
     WGI_JoystickHasLED,
     WGI_JoystickSetLED,
+    WGI_JoystickSetSensorsEnabled,
     WGI_JoystickUpdate,
     WGI_JoystickClose,
     WGI_JoystickQuit,
diff --git a/src/joystick/windows/SDL_windowsjoystick.c b/src/joystick/windows/SDL_windowsjoystick.c
index b66e6c7b3..fb18faa98 100644
--- a/src/joystick/windows/SDL_windowsjoystick.c
+++ b/src/joystick/windows/SDL_windowsjoystick.c
@@ -518,6 +518,12 @@ WINDOWS_JoystickSetLED(SDL_Joystick * joystick, Uint8 red, Uint8 green, Uint8 bl
     return SDL_Unsupported();
 }
 
+static int
+WINDOWS_JoystickSetSensorsEnabled(SDL_Joystick *joystick, SDL_bool enabled)
+{
+    return SDL_Unsupported();
+}
+
 static void
 WINDOWS_JoystickUpdate(SDL_Joystick * joystick)
 {
@@ -604,6 +610,7 @@ SDL_JoystickDriver SDL_WINDOWS_JoystickDriver =
     WINDOWS_JoystickRumbleTriggers,
     WINDOWS_JoystickHasLED,
     WINDOWS_JoystickSetLED,
+    WINDOWS_JoystickSetSensorsEnabled,
     WINDOWS_JoystickUpdate,
     WINDOWS_JoystickClose,
     WINDOWS_JoystickQuit,
diff --git a/src/sensor/coremotion/SDL_coremotionsensor.m b/src/sensor/coremotion/SDL_coremotionsensor.m
index 276109f26..0c61df188 100644
--- a/src/sensor/coremotion/SDL_coremotionsensor.m
+++ b/src/sensor/coremotion/SDL_coremotionsensor.m
@@ -158,9 +158,9 @@ SDL_COREMOTION_SensorUpdate(SDL_Sensor *sensor)
             if (accelerometerData) {
                 CMAcceleration acceleration = accelerometerData.acceleration;
                 float data[3];
-                data[0] = acceleration.x * SDL_STANDARD_GRAVITY;
-                data[1] = acceleration.y * SDL_STANDARD_GRAVITY;
-                data[2] = acceleration.z * SDL_STANDARD_GRAVITY;
+                data[0] = -acceleration.x * SDL_STANDARD_GRAVITY;
+                data[1] = -acceleration.y * SDL_STANDARD_GRAVITY;
+                data[2] = -acceleration.z * SDL_STANDARD_GRAVITY;
                 if (SDL_memcmp(data, sensor->hwdata->data, sizeof(data)) != 0) {
                     SDL_PrivateSensorUpdate(sensor, data, SDL_arraysize(data));
                     SDL_memcpy(sensor->hwdata->data, data, sizeof(data));
diff --git a/test/testgamecontroller.c b/test/testgamecontroller.c
index bc1f66dd5..f484e6c4f 100644
--- a/test/testgamecontroller.c
+++ b/test/testgamecontroller.c
@@ -98,26 +98,48 @@ LoadTexture(SDL_Renderer *renderer, const char *file, SDL_bool transparent)
 }
 
 static void
-UpdateWindowTitle()
+InitGameController()
 {
     const char *name = SDL_GameControllerName(gamecontroller);
-    const char *serial = SDL_GameControllerGetSerial(gamecontroller);
-    const char *basetitle = "Game Controller Test: ";
-    const size_t titlelen = SDL_strlen(basetitle) + SDL_strlen(name) + (serial ? 3 + SDL_strlen(serial) : 0) + 1;
-    char *title = (char *)SDL_malloc(titlelen);
 
-    retval = SDL_FALSE;
-    done = SDL_FALSE;
+    SDL_Log("Opened game controller %s\n", name);
 
-    if (title) {
-        SDL_snprintf(title, titlelen, "%s%s", basetitle, name);
-        if (serial) {
-            SDL_strlcat(title, " (", titlelen);
-            SDL_strlcat(title, serial, titlelen);
-            SDL_strlcat(title, ")", titlelen);
+    if (SDL_GameControllerHasSensor(gamecontroller, SDL_SENSOR_ACCEL)) {
+        SDL_Log("Enabling accelerometer\n");
+        SDL_GameControllerSetSensorEnabled(gamecontroller, SDL_SENSOR_ACCEL, SDL_TRUE);
+    }
+
+    if (SDL_GameControllerHasSensor(gamecontroller, SDL_SENSOR_GYRO)) {
+        SDL_Log("Enabling gyro\n");
+        SDL_GameControllerSetSensorEnabled(gamecontroller, SDL_SENSOR_GYRO, SDL_TRUE);
+    }
+}
+
+static void
+UpdateWindowTitle()
+{
+    if (gamecontroller) {
+        const char *name = SDL_GameControllerName(gamecontroller);
+        const char *serial = SDL_GameControllerGetSerial(gamecontroller);
+        const char *basetitle = "Game Controller Test: ";
+        const size_t titlelen = SDL_strlen(basetitle) + SDL_strlen(name) + (serial ? 3 + SDL_strlen(serial) : 0) + 1;
+        char *title = (char *)SDL_malloc(titlelen);
+
+        retval = SDL_FALSE;
+        done = SDL_FALSE;
+
+        if (title) {
+            SDL_snprintf(title, titlelen, "%s%s", basetitle, name);
+            if (serial) {
+                SDL_strlcat(title, " (", titlelen);
+                SDL_strlcat(title, serial, titlelen);
+                SDL_strlcat(title, ")", titlelen);
+            }
+            SDL_SetWindowTitle(window, title);
+            SDL_free(title);
         }
-        SDL_SetWindowTitle(window, title);
-        SDL_free(title);
+    } else {
+        SDL_SetWindowTitle(window, "Waiting for controller...");
     }
 }
 
@@ -146,10 +168,11 @@ loop(void *arg)
             if (!gamecontroller) {
                 gamecontroller = SDL_GameControllerOpen(event.cdevice.which);
                 if (gamecontroller) {
-                    UpdateWindowTitle();
+                    InitGameController();
                 } else {
                     SDL_Log("Couldn't open controller: %s\n", SDL_GetError());
                 }
+                UpdateWindowTitle();
             }
             break;
 
@@ -159,8 +182,9 @@ loop(void *arg)
                 SDL_GameControllerClose(gamecontroller);
                 gamecontroller = SDL_GameControllerOpen(0);
                 if (gamecontroller) {
-                    UpdateWindowTitle();
+                    InitGameController();
                 }
+                UpdateWindowTitle();
             }
             break;
 
@@ -178,6 +202,15 @@ loop(void *arg)
                 event.ctouchpad.pressure);
             break;
 
+        case SDL_CONTROLLERSENSORUPDATE:
+            SDL_Log("Controller sensor %s: %.2f, %.2f, %.2f\n",
+                event.csensor.sensor == SDL_SENSOR_ACCEL ? "accelerometer" :
+                event.csensor.sensor == SDL_SENSOR_GYRO ? "gyro" : "unknown",
+                event.csensor.data[0],
+                event.csensor.data[1],
+                event.csensor.data[2]);
+            break;
+
         case SDL_CONTROLLERAXISMOTION:
             SDL_Log("Controller axis %s changed to %d\n", SDL_GameControllerGetStringForAxis((SDL_GameControllerAxis)event.caxis.axis), event.caxis.value);
             break;
@@ -414,6 +447,8 @@ main(int argc, char *argv[])
     /* !!! FIXME: */
     /*SDL_RenderSetLogicalSize(screen, background->w, background->h);*/
 
+    UpdateWindowTitle();
+
     /* Loop, getting controller events! */
 #ifdef __EMSCRIPTEN__
     emscripten_set_main_loop_arg(loop, NULL, 0, 1);