A stylus is communicatively coupled to a touch-sensitive device. The stylus includes a contact sensor and a reporting unit. The stylus or touch-sensitive device includes a contact detection controller. The contact sensor measures one or more properties. The contact detection controller determines, based on measurements of the one or more properties from the contact sensor, whether the stylus is in contact with a surface. The reporting unit transmits an indication of whether the stylus is in contact with the surface to the touch-sensitive device.