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m42iThank you for this detailed how-to. I changed the following:
Used /etc/init.d/bluetooth and /etc/defaults/bluetooth from the Debian jessie package:
https://packages.debian.org/jessie/bluez (the .tar.xz file on the right)
With DAEMON= in /etc/init.d/bluetooth pointing to /usr/libexec/bluetooth/bluetoothd.
Added this line to /etc/rc.local:
hciconfig hci0 up pscan
When running bluetoothctl I could trust each controller after plugging it into USB without actually pairing it. Though I had to remove all devices at some point and start over. I think it’s important to disconnect one controller before trusting the next one.
To have the controllers disconnect after 15 minutes of idling I created /etc/bluetooth/input.conf from the Debian package above. But since the axis always send some data it seems it won’t disconnect after all.