diff --git a/switch_pro_driver.cpp b/switch_pro_driver.cpp
index ee68f68..b84af59 100644
--- a/switch_pro_driver.cpp
+++ b/switch_pro_driver.cpp
@@ -97,10 +97,18 @@ static const uint8_t factory_config_data[0xEFF] = {
 
     0xFF, 0xFF, 0xFF, 0xFF,
 
-    // config & calibration 1
-    0xE3, 0xFF, 0x39, 0xFF, 0xED, 0x01, 0x00, 0x40,
-    0x00, 0x40, 0x00, 0x40, 0x09, 0x00, 0xEA, 0xFF,
-    0xA1, 0xFF, 0x3B, 0x34, 0x3B, 0x34, 0x3B, 0x34,
+    // config & calibration 1 (6-axis IMU, SPI 0x6020-0x6037)
+    // Accel origin (0,0,0): bridge pre-corrects for bias, so Switch must not
+    // apply a second origin offset. Real controllers have hardware DC offsets
+    // here, but our emulated sensor sends bias-corrected values.
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    // Accel sensitivity coeff: 0x4000 = 16384 → 4096 LSB/G (matches bridge)
+    0x00, 0x40, 0x00, 0x40, 0x00, 0x40,
+    // Gyro origin (0,0,0): bridge removes hardware bias before sending.
+    // Original values (9, -22, -95) caused phantom 6.7 dps yaw when still.
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    // Gyro sensitivity coeff: 0x343B = 13371 → 818.5 LSB/rad_s (matches bridge)
+    0x3B, 0x34, 0x3B, 0x34, 0x3B, 0x34,
 
     0xFF, 0xFF, 0xFF, 0xFF, 0xFF,