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With that configuration, the camera movement in DS:WE also stuttered frequently.
So now we know that it is a problem with the mouse emulation. I believe Valve should put more work into making it smooth, and more like a gamepad stick.
The developers for Prey (Arkane) removed Xinput support so that they could use SCAPI support. With all the people complaining about the stuttering of the gamepad movement, they might add Xinput support back, which is bad.
Also can you go into advanced settings for Aim and try changing the response curve, Anti-deadzone settings, etc?
What frame rate is the game running at?
Here are two videos for Darksiders: Warmastered Edition, using the DS4 controller on Windows 7 Pro x64 and the latest Steam beta (Aug 28 2017, at 11:52:52). Based on the OP's description, I believe this is the same stutter behavior they are referring to in Prey.
In both videos, the game was captured using OBS at 1080p and 60 FPS with the software encoder (x264). However the game is running at 120 FPS on my computer.
The problem is more pronounced at 120 FPS compared to 60, but you should hopefully still be able to see the difference.
This first video is using the official SC bindings for Darksiders (the right analog stick controls the camera via mouse emulation):
https://youtu.be/3Pa2bMLigx8
This second video is using Xinput, with the standard gamepad bindings:
https://youtu.be/1lgEXwl4UXs
I have tried altering a few of the analog settings in the controller configuration, but none of them have make a difference as far as the stuttering.
The only setting I would think might have made a difference is the stick response curve, but the only effect changing that has is to speed up or slow down the camera speed. The stuttering is there regardless.
Let me know if you want me to try some other setting that might work.
This video was recorded with the Xbox Game DVR at 60 fps at High encoding settings.
https://www.youtube.com/watch?v=CiuYqwoFWk4
It might be a bit hard to tell because it's a recording, but look at the viewmodel. Normally it would not be skipping back and forth. Also, look at the wall when I move slowly with the pistol. It's skipping very fast, although it's not as noticeable in the recording.
In-game it's definitely not as smooth as native joystick support. I can't test it with Xinput because they completely removed all support for xinput.
Because Prey is not the only game that has this issue, perhaps it's a problem with the Joystick Mouse option? (Aim is just joystick mouse renamed as far as I know). You could try just smoothing it, since "Joystick Mouse" doesn't have a smoothing option.
some additional details, I put the sensitivity in the right analog at maximum and so regulate with the Gyro in less sensitivity possible in-game, but for some reason when using Bluetooth instead of USB the sensitivity of the right analog gets something twice as fast and with shutter, it's as if I'm sending double input or something, the fact that I have even greater sensitivity in the right analogue is welcome, since I can decrease the in-game sensitivity and increase the sensitivity of the Gyro, making it optimum with the crosshair and pixel skkiping almost nil, if it did not have the shutter.
I would like you to take the test and find out if the USB cable solves the problem for you.
Unfortunately I don't have a fix yet for the OP's issue. Fixing this and some other issues around PS4 and Xbox controllers are on my list of things to do.