Position, tilt, and twist detection for stylus

A touch-sensitive display device includes a touch sensor having a plurality of display electrodes and control logic coupled to the plurality of display electrodes. The control logic is configured to receive, for each of a plurality of stylus electrodes of an active stylus interacting with the touch-sensitive display device, a spatial capacitance measurement over the touch sensor for that stylus electrode. Relative to the touch sensor, and based on spatial capacitance measurements of the stylus electrodes, the control logic is configured to determine (i) a tip position of the active stylus, (ii) a tilt parameter of the active stylus, and (iii) a twist parameter of the active stylus.