Hi, I wanted to share my experience with Ds4 v1. I was having many troubles trying to connect it via bluetooth on 6.0 with Rpb Pi3
This worked for me:
I reset the controller, then paired it (ps button + share button) with a generic BT dongle (belkin). It paired fine but i was unable to reconnect afer resetting the controller or te RPB.
Then I retired the dongle and now I can play fine and reconnect the controller via ps button without any trouble. I also could configure buttons.
I hope this can help anyone
P.S. Sorry about my english