Merge branch 'main' into onboarding-usage-step

2026-04-06 02:01:58 +02:00 · 2025-01-22 18:05:32 +01:00
parent 75cf328aea 181ba089c2
commit a088145963
107 changed files with 9428 additions and 988 deletions
--- a/.github/workflows/gradle.yaml
+++ b/.github/workflows/gradle.yaml
@@ -285,7 +285,7 @@ jobs:
          ./bundle_dmg.sh --volname SlimeVR --icon slimevr 180 170 --app-drop-link 480 170 \
          --window-size 660 400 --hide-extension ../macos/SlimeVR.app \
          --volicon ../macos/SlimeVR.app/Contents/Resources/icon.icns --skip-jenkins \
-          --eula ../../../../LICENSE-MIT slimevr.dmg ../macos/SlimeVR.app
+          --eula ../../../../../LICENSE-MIT slimevr.dmg ../macos/SlimeVR.app

      - uses: actions/upload-artifact@v4
        with:
--- a/.npmrc
+++ b/.npmrc
@@ -0,0 +1 @@
+update-notifier=false
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2018,6 +2018,15 @@ version = "1.70.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7943c866cc5cd64cbc25b2e01621d07fa8eb2a1a23160ee81ce38704e97b8ecf"

+[[package]]
+name = "itertools"
+version = "0.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "413ee7dfc52ee1a4949ceeb7dbc8a33f2d6c088194d9f922fb8318faf1f01186"
+dependencies = [
+ "either",
+]
+
 [[package]]
 name = "itoa"
 version = "0.4.8"
@@ -3188,7 +3197,7 @@ dependencies = [
 "once_cell",
 "socket2",
 "tracing",
- "windows-sys 0.52.0",
+ "windows-sys 0.59.0",
 ]

 [[package]]
@@ -3827,6 +3836,7 @@ dependencies = [
 "discord-sdk",
 "flexi_logger",
 "glob",
+ "itertools",
 "libloading 0.8.5",
 "log",
 "log-panics",
--- a/dev.slimevr.SlimeVR.metainfo.xml
+++ b/dev.slimevr.SlimeVR.metainfo.xml
@@ -65,6 +65,7 @@ work.  If not, see <http://creativecommons.org/publicdomain/zero/1.0/>.
  </provides>

  <releases>
+    <release version="0.13.2" date="2024-11-06"><url>https://github.com/SlimeVR/SlimeVR-Server/releases/tag/v0.13.2</url></release>
    <release version="0.13.1" date="2024-11-05"><url>https://github.com/SlimeVR/SlimeVR-Server/releases/tag/v0.13.1</url></release>
    <release version="0.13.1~rc.3" type="development" date="2024-10-31"><url>https://github.com/SlimeVR/SlimeVR-Server/releases/tag/v0.13.1-rc.3</url></release>
    <release version="0.13.1~rc.2" type="development" date="2024-10-26"><url>https://github.com/SlimeVR/SlimeVR-Server/releases/tag/v0.13.1-rc.2</url></release>
--- a/flake.nix
+++ b/flake.nix
@@ -92,7 +92,7 @@
              harfbuzz
              libffi
              libsoup_3
-              openssl
+              openssl.dev
              pango
              pkg-config
              treefmt
--- a/gui/.env
+++ b/gui/.env
@@ -0,0 +1,8 @@
+VITE_FIRMWARE_TOOL_URL=https://fw-tool-api.slimevr.io
+VITE_FIRMWARE_TOOL_S3_URL=https://fw-tool-bucket.slimevr.io
+FIRMWARE_TOOL_SCHEMA_URL=https://fw-tool-api.slimevr.io/api-json
+
+
+# VITE_FIRMWARE_TOOL_URL=http://localhost:3000
+# VITE_FIRMWARE_TOOL_S3_URL=http://localhost:9000
+# FIRMWARE_TOOL_SCHEMA_URL=http://localhost:3000/api-json
--- a/gui/.eslintrc.json
+++ b/gui/.eslintrc.json
@@ -1,51 +0,0 @@
-{
-  "env": {
-    "browser": true,
-    "es2021": true,
-    "jest": true
-  },
-  "extends": ["eslint:recommended", "plugin:@typescript-eslint/recommended", "plugin:@dword-design/import-alias/recommended"],
-  "parser": "@typescript-eslint/parser",
-  "parserOptions": {
-    "ecmaFeatures": {
-      "jsx": true
-    },
-    "ecmaVersion": "latest",
-    "sourceType": "module"
-  },
-  "plugins": ["react-hooks", "@typescript-eslint"],
-  "rules": {
-    "react/react-in-jsx-scope": "off",
-    "react/prop-types": "off",
-    "spaced-comment": "error",
-    "quotes": ["error", "single"],
-    "no-duplicate-imports": "error",
-    "no-inline-styles": "off",
-    "@typescript-eslint/no-explicit-any": "off",
-    "react/no-unescaped-entities": "off",
-    "camelcase": "error",
-    "@typescript-eslint/no-unused-vars": [
-      "warn",
-      {
-        "argsIgnorePattern": "^_",
-        "varsIgnorePattern": "^_"
-      }
-    ],
-    "@dword-design/import-alias/prefer-alias": [
-      "error",
-      {
-        "alias": {
-          "@": "./src/"
-        }
-      }
-    ]
-  },
-  "settings": {
-    "import/resolver": {
-      "typescript": {}
-    },
-    "react": {
-      "version": "detect"
-    }
-  }
-}
--- a/gui/.gitignore
+++ b/gui/.gitignore
@@ -28,6 +28,7 @@ yarn-error.log*
 # vite
 /dist
 /stats.html
+vite.config.ts.timestamp*

 # eslint
 .eslintcache
--- a/gui/.lintstagedrc.mjs
+++ b/gui/.lintstagedrc.mjs
@@ -1,5 +1,5 @@
 export default {
  '**/*.{ts,tsx}': () => 'tsc -p tsconfig.json --noEmit',
-  '**/*.{js,jsx,ts,tsx}': 'eslint --max-warnings=0 --cache --fix',
+  'src/**/*.{js,jsx,ts,tsx}': 'eslint --max-warnings=0 --no-warn-ignored --cache --fix',
  '**/*.{js,jsx,ts,tsx,css,md,json}': 'prettier --write',
 };
--- a/gui/eslint.config.js
+++ b/gui/eslint.config.js
@@ -0,0 +1,79 @@
+import { FlatCompat } from '@eslint/eslintrc';
+import eslint from '@eslint/js';
+import globals from 'globals';
+import tseslint from 'typescript-eslint';
+
+const compat = new FlatCompat();
+
+export const gui = [
+  eslint.configs.recommended,
+  ...tseslint.configs.recommended,
+  ...compat.extends('plugin:@dword-design/import-alias/recommended'),
+  ...compat.plugins('eslint-plugin-react-hooks'),
+  // Add import-alias rule inside compat because plugin doesn't like flat configs
+  ...compat.config({
+    rules: {
+      '@dword-design/import-alias/prefer-alias': [
+        'error',
+        {
+          alias: {
+            '@': './src/',
+          },
+        },
+      ],
+    },
+  }),
+  {
+    languageOptions: {
+      ecmaVersion: 'latest',
+      sourceType: 'module',
+      parser: tseslint.parser,
+      parserOptions: {
+        ecmaFeatures: {
+          jsx: true,
+        },
+      },
+      globals: {
+        ...globals.browser,
+        ...globals.jest,
+      },
+    },
+    files: ['src/**/*.{js,jsx,ts,tsx,json}'],
+    plugins: {
+      '@typescript-eslint': tseslint.plugin,
+    },
+    rules: {
+      'react/react-in-jsx-scope': 'off',
+      'react/prop-types': 'off',
+      'spaced-comment': 'error',
+      quotes: ['error', 'single'],
+      'no-duplicate-imports': 'error',
+      'no-inline-styles': 'off',
+      '@typescript-eslint/no-explicit-any': 'off',
+      'react/no-unescaped-entities': 'off',
+      camelcase: 'error',
+      '@typescript-eslint/no-unused-vars': [
+        'warn',
+        {
+          argsIgnorePattern: '^_',
+          varsIgnorePattern: '^_',
+          ignoreRestSiblings: true,
+        },
+      ],
+    },
+    settings: {
+      'import/resolver': {
+        typescript: {},
+      },
+      react: {
+        version: 'detect',
+      },
+    },
+  },
+  // Global ignore
+  {
+    ignores: ['**/firmware-tool-api/'],
+  },
+];
+
+export default gui;
--- a/gui/openapi-codegen.config.ts
+++ b/gui/openapi-codegen.config.ts
@@ -0,0 +1,28 @@
+import {
+  generateSchemaTypes,
+  generateReactQueryComponents,
+} from '@openapi-codegen/typescript';
+import { defineConfig } from '@openapi-codegen/cli';
+import dotenv from 'dotenv';
+
+dotenv.config()
+
+export default defineConfig({
+  firmwareTool: {
+    from: {
+      source: 'url',
+      url: process.env.FIRMWARE_TOOL_SCHEMA_URL ?? 'http://localhost:3000/api-json',
+    },
+    outputDir: 'src/firmware-tool-api',
+    to: async (context) => {
+      const filenamePrefix = 'firmwareTool';
+      const { schemasFiles } = await generateSchemaTypes(context, {
+        filenamePrefix,
+      });
+      await generateReactQueryComponents(context, {
+        filenamePrefix,
+        schemasFiles,
+      });
+    },
+  },
+});
--- a/gui/package.json
+++ b/gui/package.json
@@ -2,13 +2,17 @@
  "name": "slimevr-ui",
  "version": "0.5.1",
  "private": true,
+  "type": "module",
  "dependencies": {
    "@fluent/bundle": "^0.18.0",
    "@fluent/react": "^0.15.2",
    "@fontsource/poppins": "^5.1.0",
    "@formatjs/intl-localematcher": "^0.2.32",
+    "@hookform/resolvers": "^3.6.0",
    "@react-three/drei": "^9.114.3",
    "@react-three/fiber": "^8.17.10",
+    "@tailwindcss/typography": "^0.5.15",
+    "@tanstack/react-query": "^5.48.0",
    "@tauri-apps/api": "^2.0.2",
    "@tauri-apps/plugin-dialog": "^2.0.0",
    "@tauri-apps/plugin-fs": "^2.0.0",
@@ -26,15 +30,18 @@
    "react-error-boundary": "^4.0.13",
    "react-helmet": "^6.1.0",
    "react-hook-form": "^7.53.0",
+    "react-markdown": "^9.0.1",
    "react-modal": "^3.16.1",
    "react-responsive": "^10.0.0",
    "react-router-dom": "^6.26.2",
+    "remark-gfm": "^4.0.0",
    "semver": "^7.6.3",
    "solarxr-protocol": "file:../solarxr-protocol",
    "three": "^0.163.0",
    "ts-pattern": "^5.4.0",
    "typescript": "^5.6.3",
-    "use-double-tap": "^1.3.6"
+    "use-double-tap": "^1.3.6",
+    "yup": "^1.4.0"
  },
  "scripts": {
    "start": "vite --force",
@@ -46,10 +53,14 @@
    "lint:fix": "tsc --noEmit && eslint --fix --max-warnings=0 \"src/**/*.{js,jsx,ts,tsx,json}\" && pnpm run format",
    "format": "prettier --write \"src/**/*.{js,jsx,ts,tsx,css,scss,md,json}\"",
    "preview-vite": "vite preview",
-    "javaversion-build": "cd src-tauri/src/ && javac JavaVersion.java && jar cvfe JavaVersion.jar JavaVersion JavaVersion.class"
+    "javaversion-build": "cd src-tauri/src/ && javac JavaVersion.java && jar cvfe JavaVersion.jar JavaVersion JavaVersion.class",
+    "gen:javaversion": "cd src-tauri/src/ && javac JavaVersion.java && jar cvfe JavaVersion.jar JavaVersion JavaVersion.class",
+    "gen:firmware-tool": "openapi-codegen gen firmwareTool"
  },
  "devDependencies": {
    "@dword-design/eslint-plugin-import-alias": "^4.0.9",
+    "@openapi-codegen/cli": "^2.0.2",
+    "@openapi-codegen/typescript": "^8.0.2",
    "@tailwindcss/forms": "^0.5.9",
    "@tauri-apps/cli": "^2.0.2",
    "@types/file-saver": "^2.0.7",
@@ -64,6 +75,7 @@
    "@vitejs/plugin-react": "^4.3.2",
    "autoprefixer": "^10.4.20",
    "cross-env": "^7.0.3",
+    "dotenv": "^16.4.5",
    "eslint": "^8.57.1",
    "eslint-config-airbnb": "^19.0.4",
    "eslint-import-resolver-typescript": "^3.6.3",
@@ -71,6 +83,7 @@
    "eslint-plugin-jsx-a11y": "^6.10.0",
    "eslint-plugin-react": "^7.37.1",
    "eslint-plugin-react-hooks": "^4.6.2",
+    "globals": "^15.10.0",
    "prettier": "^3.3.3",
    "rollup-plugin-visualizer": "^5.12.0",
    "sass": "^1.79.4",
@@ -78,6 +91,7 @@
    "tailwind-gradient-mask-image": "^1.2.0",
    "tailwindcss": "^3.4.13",
    "ts-xor": "^1.3.0",
-    "vite": "^5.4.8"
+    "vite": "^5.4.8",
+    "typescript-eslint": "^8.8.0"
  }
 }
--- a/gui/public/i18n/en/translation.ftl
+++ b/gui/public/i18n/en/translation.ftl
@@ -75,6 +75,19 @@ body_part-RIGHT_LITTLE_PROXIMAL = Right little proximal
 body_part-RIGHT_LITTLE_INTERMEDIATE = Right little intermediate
 body_part-RIGHT_LITTLE_DISTAL = Right little distal

+## BoardType
+board_type-UNKNOWN = Unknown
+board_type-NODEMCU = NodeMCU
+board_type-CUSTOM = Custom Board
+board_type-WROOM32 = WROOM32
+board_type-WEMOSD1MINI = Wemos D1 Mini
+board_type-TTGO_TBASE = TTGO T-Base
+board_type-ESP01 = ESP-01
+board_type-SLIMEVR = SlimeVR
+board_type-LOLIN_C3_MINI = Lolin C3 Mini
+board_type-BEETLE32C3 = Beetle ESP32-C3
+board_type-ES32C3DEVKITM1 = Espressif ESP32-C3 DevKitM-1
+
 ## Proportions
 skeleton_bone-NONE = None
 skeleton_bone-HEAD = Head Shift
@@ -253,6 +266,11 @@ tracker-settings-name_section-label = Tracker name
 tracker-settings-forget = Forget tracker
 tracker-settings-forget-description = Removes the tracker from the SlimeVR Server and prevent it from connecting to it until the server is restarted. The configuration of the tracker won't be lost.
 tracker-settings-forget-label = Forget tracker
+tracker-settings-update-unavailable = Cannot be updated (DIY)
+tracker-settings-update-up_to_date = Up to date
+tracker-settings-update-available = { $versionName } is now available
+tracker-settings-update = Update now
+tracker-settings-update-title = Firmware version

 ## Tracker part card info
 tracker-part_card-no_name = No name
@@ -325,6 +343,7 @@ settings-sidebar-utils = Utilities
 settings-sidebar-serial = Serial console
 settings-sidebar-appearance = Appearance
 settings-sidebar-notifications = Notifications
+settings-sidebar-firmware-tool = DIY Firmware Tool
 settings-sidebar-advanced = Advanced

 ## SteamVR settings
@@ -701,6 +720,7 @@ onboarding-wifi_creds-submit = Submit!
 onboarding-wifi_creds-ssid =
    .label = Wi-Fi name
    .placeholder = Enter Wi-Fi name
+onboarding-wifi_creds-ssid-required = Wi-Fi name is required
 onboarding-wifi_creds-password =
    .label = Password
    .placeholder = Enter password
@@ -750,6 +770,7 @@ onboarding-connect_tracker-issue-serial = I'm having trouble connecting!
 onboarding-connect_tracker-usb = USB Tracker
 onboarding-connect_tracker-connection_status-none = Looking for trackers
 onboarding-connect_tracker-connection_status-serial_init = Connecting to serial device
+onboarding-connect_tracker-connection_status-obtaining_mac_address = Obtaining the tracker mac address
 onboarding-connect_tracker-connection_status-provisioning = Sending Wi-Fi credentials
 onboarding-connect_tracker-connection_status-connecting = Trying to connect to Wi-Fi
 onboarding-connect_tracker-connection_status-looking_for_server = Looking for server
@@ -1115,6 +1136,165 @@ status_system-StatusSteamVRDisconnected = { $type ->
 status_system-StatusTrackerError = The { $trackerName } tracker has an error.
 status_system-StatusUnassignedHMD = The VR headset should be assigned as a head tracker.

+
+## Firmware tool globals
+firmware_tool-next_step = Next Step
+firmware_tool-previous_step = Previous Step
+firmware_tool-ok = Looks good
+firmware_tool-retry = Retry
+
+firmware_tool-loading = Loading...
+
+## Firmware tool Steps
+firmware_tool = DIY Firmware tool
+firmware_tool-description =
+    Allows you to configure and flash your DIY trackers
+firmware_tool-not_available = Oops, the firmware tool is not available at the moment. Come back later!
+firmware_tool-not_compatible = The firmware tool is not compatible with this version of the server. Please update your server!
+
+firmware_tool-board_step = Select your Board
+firmware_tool-board_step-description = Select one of the boards listed below.
+
+firmware_tool-board_pins_step = Check the pins
+firmware_tool-board_pins_step-description =
+    Please verify that the selected pins are correct.
+    If you followed the SlimeVR documentation the defaults values should be correct
+firmware_tool-board_pins_step-enable_led = Enable LED
+firmware_tool-board_pins_step-led_pin =
+    .label = LED Pin
+    .placeholder = Enter the pin address of the LED
+
+firmware_tool-board_pins_step-battery_type = Select the battery type
+firmware_tool-board_pins_step-battery_type-BAT_EXTERNAL = External battery
+firmware_tool-board_pins_step-battery_type-BAT_INTERNAL = Internal battery
+firmware_tool-board_pins_step-battery_type-BAT_INTERNAL_MCP3021 = Internal MCP3021
+firmware_tool-board_pins_step-battery_type-BAT_MCP3021 = MCP3021
+
+
+firmware_tool-board_pins_step-battery_sensor_pin =
+    .label = Battery sensor Pin
+    .placeholder = Enter the pin address of battery sensor
+firmware_tool-board_pins_step-battery_resistor =
+    .label = Battery Resistor (Ohms)
+    .placeholder = Enter the value of battery resistor
+firmware_tool-board_pins_step-battery_shield_resistor-0 =
+    .label = Battery Shield R1 (Ohms)
+    .placeholder = Enter the value of Battery Shield R1
+firmware_tool-board_pins_step-battery_shield_resistor-1 =
+    .label = Battery Shield R2 (Ohms)
+    .placeholder = Enter the value of Battery Shield R2
+
+firmware_tool-add_imus_step = Declare your IMUs
+firmware_tool-add_imus_step-description =
+    Please add the IMUs that your tracker has
+    If you followed the SlimeVR documentation the defaults values should be correct
+firmware_tool-add_imus_step-imu_type-label = IMU type
+firmware_tool-add_imus_step-imu_type-placeholder = Select the type of IMU
+firmware_tool-add_imus_step-imu_rotation =
+    .label = IMU Rotation (deg)
+    .placeholder = Rotation angle of the IMU
+firmware_tool-add_imus_step-scl_pin =
+    .label = SCL Pin
+    .placeholder = Pin address of SCL
+firmware_tool-add_imus_step-sda_pin =
+    .label = SDA Pin
+    .placeholder = Pin address of SDA
+firmware_tool-add_imus_step-int_pin =
+    .label = INT Pin
+    .placeholder = Pin address of INT
+firmware_tool-add_imus_step-optional_tracker =
+    .label = Optional tracker
+firmware_tool-add_imus_step-show_less = Show Less
+firmware_tool-add_imus_step-show_more = Show More
+firmware_tool-add_imus_step-add_more = Add more IMUs
+
+firmware_tool-select_firmware_step = Select the firmware version
+firmware_tool-select_firmware_step-description =
+    Please choose what version of the firmware you want to use
+firmware_tool-select_firmware_step-show-third-party =
+    .label = Show third party firmwares
+
+firmware_tool-flash_method_step = Flashing Method
+firmware_tool-flash_method_step-description =
+    Please select the flashing method you want to use
+firmware_tool-flash_method_step-ota =
+    .label = OTA
+    .description = Use the over the air method. Your tracker will use the Wi-Fi to update it's firmware. Works only on already setup trackers.
+firmware_tool-flash_method_step-serial =
+    .label = Serial
+    .description = Use a USB cable to update your tracker.
+
+firmware_tool-flashbtn_step = Press the boot btn
+firmware_tool-flashbtn_step-description = Before going into the next step there is a few things you need to do
+
+firmware_tool-flashbtn_step-board_SLIMEVR = Turn off the tracker, remove the case (if any), connect a USB cable to this computer, then do one of the following steps according to your SlimeVR board revision:
+firmware_tool-flashbtn_step-board_SLIMEVR-r11 = Turn on the tracker while shorting the second rectangular FLASH pad from the edge on the top side of the board, and the metal shield of the microcontroller
+firmware_tool-flashbtn_step-board_SLIMEVR-r12 = Turn on the tracker while shorting the circular FLASH pad on the top side of the board, and the metal shield of the microcontroller
+firmware_tool-flashbtn_step-board_SLIMEVR-r14 = Turn on the tracker while pushing in the FLASH button on the top side of the board
+
+firmware_tool-flashbtn_step-board_OTHER = Before flashing you will probably need to put the tracker into bootloader mode.
+    Most of the time it means pressing the boot button on the board before the flashing process starts.
+    If the flashing process timeout at the begining of the flashing it probably means that the tracker was not in bootloader mode
+    Please refer to the flashing instructions of your board to know how to turn on the boatloader mode
+
+
+
+firmware_tool-flash_method_ota-devices = Detected OTA Devices:
+firmware_tool-flash_method_ota-no_devices = There are no boards that can be updated using OTA, make sure you selected the correct board type
+firmware_tool-flash_method_serial-wifi = Wi-Fi Credentials:
+firmware_tool-flash_method_serial-devices-label = Detected Serial Devices:
+firmware_tool-flash_method_serial-devices-placeholder = Select a serial device
+firmware_tool-flash_method_serial-no_devices = There are no compatible serial devices detected, make sure the tracker is plugged in
+
+firmware_tool-build_step = Building
+firmware_tool-build_step-description =
+    The firmware is building, please wait
+
+firmware_tool-flashing_step = Flashing
+firmware_tool-flashing_step-description =
+    Your trackers are flashing, please follow the instructions on the screen
+firmware_tool-flashing_step-warning = Do not unplug or restart the tracker during the upload process unless told to, it may make your board unusable
+firmware_tool-flashing_step-flash_more = Flash more trackers
+firmware_tool-flashing_step-exit = Exit
+
+## firmware tool build status
+firmware_tool-build-CREATING_BUILD_FOLDER = Creating the build folder
+firmware_tool-build-DOWNLOADING_FIRMWARE = Downloading the firmware
+firmware_tool-build-EXTRACTING_FIRMWARE = Extracting the firmware
+firmware_tool-build-SETTING_UP_DEFINES = Configuring the defines
+firmware_tool-build-BUILDING = Building the firmware
+firmware_tool-build-SAVING = Saving the build
+firmware_tool-build-DONE = Build Complete
+firmware_tool-build-ERROR = Unable to build the firmware
+
+## Firmware update status
+firmware_update-status-DOWNLOADING = Downloading the firmware
+firmware_update-status-NEED_MANUAL_REBOOT = Waiting for the user to reboot the tracker
+firmware_update-status-AUTHENTICATING = Authenticating with the mcu
+firmware_update-status-UPLOADING = Uploading the firmware
+firmware_update-status-SYNCING_WITH_MCU = Syncing with the mcu
+firmware_update-status-REBOOTING = Rebooting the tracker
+firmware_update-status-PROVISIONING = Setting Wi-Fi credentials
+firmware_update-status-DONE = Update complete!
+firmware_update-status-ERROR_DEVICE_NOT_FOUND = Could not find the device
+firmware_update-status-ERROR_TIMEOUT = The update process timed out
+firmware_update-status-ERROR_DOWNLOAD_FAILED = Could not download the firmware
+firmware_update-status-ERROR_AUTHENTICATION_FAILED = Could not authenticate with the mcu
+firmware_update-status-ERROR_UPLOAD_FAILED = Could not upload the firmware
+firmware_update-status-ERROR_PROVISIONING_FAILED = Could not set the Wi-Fi credentials
+firmware_update-status-ERROR_UNSUPPORTED_METHOD = The update method is not supported
+firmware_update-status-ERROR_UNKNOWN = Unknown error
+
+## Dedicated Firmware Update Page
+firmware_update-title = Firmware update
+firmware_update-devices = Available Devices
+firmware_update-devices-description = Please select the trackers you want to update to the latest version of SlimeVR firmware
+firmware_update-no_devices = Plase make sure that the trackers you want to update are ON and connected to the Wi-Fi!
+firmware_update-changelog-title = Updating to {$version}
+firmware_update-looking_for_devices = Looking for devices to update...
+firmware_update-retry = Retry
+firmware_update-update = Update Selected Trackers
+
 ## Tray Menu
 tray_menu-show = Show
 tray_menu-hide = Hide
--- a/gui/public/images/R11_board_reset.webp
+++ b/gui/public/images/R11_board_reset.webp
--- a/gui/public/images/R12_board_reset.webp
+++ b/gui/public/images/R12_board_reset.webp
--- a/gui/public/images/R14_board_reset_sw.webp
+++ b/gui/public/images/R14_board_reset_sw.webp
--- a/gui/src-tauri/Cargo.toml
+++ b/gui/src-tauri/Cargo.toml
@@ -53,6 +53,7 @@ rfd = { version = "0.15", features = ["gtk3"], default-features = false }
 dirs-next = "2.0.0"
 discord-sdk = "0.3.6"
 tokio = { version = "1.37.0", features = ["time"] }
+itertools = "0.13.0"

 [target.'cfg(windows)'.dependencies]
 win32job = "1"
--- a/gui/src-tauri/src/main.rs
+++ b/gui/src-tauri/src/main.rs
@@ -1,4 +1,5 @@
 #![cfg_attr(all(not(debug_assertions), windows), windows_subsystem = "windows")]
+use std::env;
 use std::panic;
 use std::sync::atomic::AtomicBool;
 use std::sync::atomic::Ordering;
@@ -68,88 +69,125 @@ fn main() -> Result<()> {
 	let tauri_context = tauri::generate_context!();

 	// Set up loggers and global handlers
-	let _logger = {
-		use flexi_logger::{
-			Age, Cleanup, Criterion, Duplicate, FileSpec, Logger, Naming, WriteMode,
-		};
-		use tauri::Error;
-
-		// Based on https://docs.rs/tauri/2.0.0-alpha.10/src/tauri/path/desktop.rs.html#238-256
-		#[cfg(target_os = "macos")]
-		let path = dirs_next::home_dir().ok_or(Error::UnknownPath).map(|dir| {
-			dir.join("Library/Logs")
-				.join(&tauri_context.config().identifier)
-		});
-
-		#[cfg(not(target_os = "macos"))]
-		let path = dirs_next::data_dir()
-			.ok_or(Error::UnknownPath)
-			.map(|dir| dir.join(&tauri_context.config().identifier).join("logs"));
-
-		Logger::try_with_env_or_str("info")?
-			.log_to_file(
-				FileSpec::default().directory(path.expect("We need a log dir")),
-			)
-			.format_for_files(|w, now, record| {
-				util::logger_format(w, now, record, false)
-			})
-			.format_for_stderr(|w, now, record| {
-				util::logger_format(w, now, record, true)
-			})
-			.rotate(
-				Criterion::Age(Age::Day),
-				Naming::Timestamps,
-				Cleanup::KeepLogFiles(2),
-			)
-			.duplicate_to_stderr(Duplicate::All)
-			.write_mode(WriteMode::BufferAndFlush)
-			.start()?
-	};
+	let _logger = setup_logger(&tauri_context);

 	// Ensure child processes die when spawned on windows
 	// and then check for WebView2's existence
 	#[cfg(windows)]
-	{
-		use crate::util::webview2_exists;
-		use win32job::{ExtendedLimitInfo, Job};
+	setup_webview2()?;

-		let mut info = ExtendedLimitInfo::new();
-		info.limit_kill_on_job_close();
-		let job = Job::create_with_limit_info(&mut info).expect("Failed to create Job");
-		job.assign_current_process()
-			.expect("Failed to assign current process to Job");
-
-		// We don't do anything with the job anymore, but we shouldn't drop it because that would
-		// terminate our process tree. So we intentionally leak it instead.
-		std::mem::forget(job);
-
-		if !webview2_exists() {
-			// This makes a dialog appear which let's you press Ok or Cancel
-			// If you press Ok it will open the SlimeVR installer documentation
-			use rfd::{
-				MessageButtons, MessageDialog, MessageDialogResult, MessageLevel,
-			};
-
-			let confirm = MessageDialog::new()
-				.set_title("SlimeVR")
-				.set_description("Couldn't find WebView2 installed. You can install it with the SlimeVR installer")
-				.set_buttons(MessageButtons::OkCancel)
-				.set_level(MessageLevel::Error)
-				.show();
-			if confirm == MessageDialogResult::Ok {
-				open::that("https://docs.slimevr.dev/server-setup/installing-and-connecting.html#install-the-latest-slimevr-installer").unwrap();
-			}
-			return Ok(());
-		}
-	}
+	// Check for environment variables that can affect the server, and if so, warn in log and GUI
+	check_environment_variables();

 	// Spawn server process
 	let exit_flag = Arc::new(AtomicBool::new(false));
 	let backend = Arc::new(Mutex::new(Option::<CommandChild>::None));
-	let backend_termination = backend.clone();
-	let run_path = get_launch_path(cli);

-	let server_info = if let Some(p) = run_path {
+	let server_info = execute_server(cli)?;
+	let build_result = setup_tauri(
+		tauri_context,
+		server_info,
+		exit_flag.clone(),
+		backend.clone(),
+	);
+
+	tauri_build_result(build_result, exit_flag, backend);
+
+	Ok(())
+}
+
+fn setup_logger(context: &tauri::Context) -> Result<flexi_logger::LoggerHandle> {
+	use flexi_logger::{
+		Age, Cleanup, Criterion, Duplicate, FileSpec, Logger, Naming, WriteMode,
+	};
+	use tauri::Error;
+
+	// Based on https://docs.rs/tauri/2.0.0-alpha.10/src/tauri/path/desktop.rs.html#238-256
+	#[cfg(target_os = "macos")]
+	let path = dirs_next::home_dir()
+		.ok_or(Error::UnknownPath)
+		.map(|dir| dir.join("Library/Logs").join(&context.config().identifier));
+
+	#[cfg(not(target_os = "macos"))]
+	let path = dirs_next::data_dir()
+		.ok_or(Error::UnknownPath)
+		.map(|dir| dir.join(&context.config().identifier).join("logs"));
+
+	Ok(Logger::try_with_env_or_str("info")?
+		.log_to_file(FileSpec::default().directory(path.expect("We need a log dir")))
+		.format_for_files(|w, now, record| util::logger_format(w, now, record, false))
+		.format_for_stderr(|w, now, record| util::logger_format(w, now, record, true))
+		.rotate(
+			Criterion::Age(Age::Day),
+			Naming::Timestamps,
+			Cleanup::KeepLogFiles(2),
+		)
+		.duplicate_to_stderr(Duplicate::All)
+		.write_mode(WriteMode::BufferAndFlush)
+		.start()?)
+}
+
+#[cfg(windows)]
+fn setup_webview2() -> Result<()> {
+	use crate::util::webview2_exists;
+	use win32job::{ExtendedLimitInfo, Job};
+
+	let mut info = ExtendedLimitInfo::new();
+	info.limit_kill_on_job_close();
+	let job = Job::create_with_limit_info(&mut info).expect("Failed to create Job");
+	job.assign_current_process()
+		.expect("Failed to assign current process to Job");
+
+	// We don't do anything with the job anymore, but we shouldn't drop it because that would
+	// terminate our process tree. So we intentionally leak it instead.
+	std::mem::forget(job);
+
+	if !webview2_exists() {
+		// This makes a dialog appear which let's you press Ok or Cancel
+		// If you press Ok it will open the SlimeVR installer documentation
+		use rfd::{MessageButtons, MessageDialog, MessageDialogResult, MessageLevel};
+
+		let confirm = MessageDialog::new()
+			.set_title("SlimeVR")
+			.set_description("Couldn't find WebView2 installed. You can install it with the SlimeVR installer")
+			.set_buttons(MessageButtons::OkCancel)
+			.set_level(MessageLevel::Error)
+			.show();
+		if confirm == MessageDialogResult::Ok {
+			open::that("https://docs.slimevr.dev/server-setup/installing-and-connecting.html#install-the-latest-slimevr-installer").unwrap();
+		}
+	}
+	Ok(())
+}
+
+fn check_environment_variables() {
+	use itertools::Itertools;
+	const ENVS_TO_CHECK: &[&str] = &["_JAVA_OPTIONS", "JAVA_TOOL_OPTIONS"];
+	let checked_envs = ENVS_TO_CHECK
+		.into_iter()
+		.filter_map(|e| {
+			let Ok(data) = env::var(e) else {
+				return None;
+			};
+			log::warn!("{e} is set to: {data}");
+			Some(e)
+		})
+		.join(", ");
+
+	if !checked_envs.is_empty() {
+		rfd::MessageDialog::new()
+			.set_title("SlimeVR")
+			.set_description(format!("You have environment variables {} set, which may cause the SlimeVR Server to fail to launch properly.", checked_envs))
+			.set_level(rfd::MessageLevel::Warning)
+			.show();
+	}
+}
+
+fn execute_server(
+	cli: Cli,
+) -> Result<Option<(std::ffi::OsString, std::path::PathBuf)>> {
+	use const_format::formatcp;
+	if let Some(p) = get_launch_path(cli) {
 		log::info!("Server found on path: {}", p.to_str().unwrap());

 		// Check if any Java already installed is compatible
@@ -159,19 +197,29 @@ fn main() -> Result<()> {
 			.then(|| jre.into_os_string())
 			.or_else(|| valid_java_paths().first().map(|x| x.0.to_owned()));
 		let Some(java_bin) = java_bin else {
-			show_error(&format!("Couldn't find a compatible Java version, please download Java {} or higher", MINIMUM_JAVA_VERSION));
-			return Ok(());
+			show_error(formatcp!(
+                "Couldn't find a compatible Java version, please download Java {} or higher",
+                MINIMUM_JAVA_VERSION
+            ));
+			return Ok(None);
 		};

 		log::info!("Using Java binary: {:?}", java_bin);
-		Some((java_bin, p))
+		Ok(Some((java_bin, p)))
 	} else {
 		log::warn!("No server found. We will not start the server.");
-		None
-	};
+		Ok(None)
+	}
+}

+fn setup_tauri(
+	context: tauri::Context,
+	server_info: Option<(std::ffi::OsString, std::path::PathBuf)>,
+	exit_flag: Arc<AtomicBool>,
+	backend: Arc<Mutex<Option<CommandChild>>>,
+) -> Result<tauri::App, tauri::Error> {
 	let exit_flag_terminated = exit_flag.clone();
-	let build_result = tauri::Builder::default()
+	tauri::Builder::default()
 		.plugin(tauri_plugin_dialog::init())
 		.plugin(tauri_plugin_fs::init())
 		.plugin(tauri_plugin_os::init())
@@ -281,7 +329,14 @@ fn main() -> Result<()> {
 			// WindowEvent::Resized(_) => std::thread::sleep(std::time::Duration::from_nanos(1)),
 			_ => (),
 		})
-		.build(tauri_context);
+		.build(context)
+}
+
+fn tauri_build_result(
+	build_result: Result<tauri::App, tauri::Error>,
+	exit_flag: Arc<AtomicBool>,
+	backend: Arc<Mutex<Option<CommandChild>>>,
+) {
 	match build_result {
 		Ok(app) => {
 			app.run(move |app_handle, event| match event {
@@ -295,7 +350,7 @@ fn main() -> Result<()> {
 						Err(e) => log::error!("failed to save window state: {}", e),
 					}

-					let mut lock = backend_termination.lock().unwrap();
+					let mut lock = backend.lock().unwrap();
 					let Some(ref mut child) = *lock else { return };
 					let write_result = child.write(b"exit\n");
 					match write_result {
@@ -339,6 +394,4 @@ fn main() -> Result<()> {
 			show_error(&error.to_string());
 		}
 	}
-
-	Ok(())
 }
--- a/gui/src/App.tsx
+++ b/gui/src/App.tsx
@@ -51,11 +51,14 @@ import { useBreakpoint, useIsTauri } from './hooks/breakpoint';
 import { VRModePage } from './components/vr-mode/VRModePage';
 import { InterfaceSettings } from './components/settings/pages/InterfaceSettings';
 import { error, log } from './utils/logging';
+import { FirmwareToolSettings } from './components/firmware-tool/FirmwareTool';
 import { AppLayout } from './AppLayout';
 import { Preload } from './components/Preload';
 import { UnknownDeviceModal } from './components/UnknownDeviceModal';
 import { useDiscordPresence } from './hooks/discord-presence';
+import { EmptyLayout } from './components/EmptyLayout';
 import { AdvancedSettings } from './components/settings/pages/AdvancedSettings';
+import { FirmwareUpdate } from './components/firmware-update/FirmwareUpdate';
 import { UsageChoose } from './components/onboarding/pages/usage-reason/UsageChoose';
 import { VRUsageChoose } from './components/onboarding/pages/usage-reason/VRUsageChoose';
 import { StandaloneUsageSetup } from './components/onboarding/pages/usage-reason/StandaloneUsageSetup';
@@ -89,6 +92,14 @@ function Layout() {
              </MainLayout>
            }
          />
+          <Route
+            path="/firmware-update"
+            element={
+              <MainLayout isMobile={isMobile} widgets={false}>
+                <FirmwareUpdate />
+              </MainLayout>
+            }
+          />
          <Route
            path="/vr-mode"
            element={
@@ -113,6 +124,7 @@ function Layout() {
              </SettingsLayout>
            }
          >
+            <Route path="firmware-tool" element={<FirmwareToolSettings />} />
            <Route path="trackers" element={<GeneralSettings />} />
            <Route path="serial" element={<Serial />} />
            <Route path="osc/router" element={<OSCRouterSettings />} />
@@ -295,19 +307,16 @@ export default function App() {
                <VersionContext.Provider value={updateFound}>
                  <div className="h-full w-full text-standard bg-background-80 text-background-10">
                    <Preload />
-                    <div className="flex-col h-full">
-                      {!websocketAPI.isConnected && (
-                        <>
-                          <TopBar></TopBar>
-                          <div className="flex w-full h-full justify-center items-center p-2">
-                            {websocketAPI.isFirstConnection
-                              ? l10n.getString('websocket-connecting')
-                              : l10n.getString('websocket-connection_lost')}
-                          </div>
-                        </>
-                      )}
-                      {websocketAPI.isConnected && <Layout></Layout>}
-                    </div>
+                    {!websocketAPI.isConnected && (
+                      <EmptyLayout>
+                        <div className="flex w-full h-full justify-center items-center p-2">
+                          {websocketAPI.isFirstConnection
+                            ? l10n.getString('websocket-connecting')
+                            : l10n.getString('websocket-connection_lost')}
+                        </div>
+                      </EmptyLayout>
+                    )}
+                    {websocketAPI.isConnected && <Layout></Layout>}
                  </div>
                </VersionContext.Provider>
              </StatusProvider>
--- a/gui/src/components/EmptyLayout.scss
+++ b/gui/src/components/EmptyLayout.scss
@@ -0,0 +1,7 @@
+.empty-layout {
+  display: grid;
+  grid-template:
+    't' var(--topbar-h)
+    'c' calc(100% - var(--topbar-h))
+    / 100%;
+}
--- a/gui/src/components/EmptyLayout.tsx
+++ b/gui/src/components/EmptyLayout.tsx
@@ -0,0 +1,16 @@
+import { ReactNode } from 'react';
+import { TopBar } from './TopBar';
+import './EmptyLayout.scss';
+
+export function EmptyLayout({ children }: { children: ReactNode }) {
+  return (
+    <div className="empty-layout h-full">
+      <div style={{ gridArea: 't' }}>
+        <TopBar></TopBar>
+      </div>
+      <div style={{ gridArea: 'c' }} className="mt-2 relative">
+        {children}
+      </div>
+    </div>
+  );
+}
--- a/gui/src/components/SerialDetectionModal.tsx
+++ b/gui/src/components/SerialDetectionModal.tsx
@@ -39,12 +39,6 @@ export function SerialDetectionModal() {

  const openWifi = () => {
    setShowWifiForm(true);
-    // if (!hasWifiCreds) {
-    //   setShowWifiForm(true);
-    // } else {
-    //   closeModal();
-    //   nav('/onboarding/connect-trackers', { state: { alonePage: true } });
-    // }
  };

  const modalWifiSubmit = (form: WifiFormData) => {
@@ -58,7 +52,11 @@ export function SerialDetectionModal() {
    ({ device }: NewSerialDeviceResponseT) => {
      if (
        config?.watchNewDevices &&
-        !['/settings/serial', '/onboarding/connect-trackers'].includes(pathname)
+        ![
+          '/settings/serial',
+          '/onboarding/connect-trackers',
+          '/settings/firmware-tool',
+        ].includes(pathname)
      ) {
        setOpen(device);
      }
--- a/gui/src/components/TopBar.tsx
+++ b/gui/src/components/TopBar.tsx
@@ -290,7 +290,9 @@ export function TopBar({
            await invoke('update_tray_text');
          } else if (
            config?.connectedTrackersWarning &&
-            connectedIMUTrackers.length > 0
+            connectedIMUTrackers.filter(
+              (t) => t.tracker.status !== TrackerStatus.TIMED_OUT
+            ).length > 0
          ) {
            setConnectedTrackerWarning(true);
          } else {
--- a/gui/src/components/UnknownDeviceModal.tsx
+++ b/gui/src/components/UnknownDeviceModal.tsx
@@ -25,7 +25,9 @@ export function UnknownDeviceModal() {
    RpcMessage.UnknownDeviceHandshakeNotification,
    ({ macAddress }: UnknownDeviceHandshakeNotificationT) => {
      if (
-        ['/onboarding/connect-trackers'].includes(pathname) ||
+        ['/onboarding/connect-trackers', '/settings/firmware-tool'].includes(
+          pathname
+        ) ||
        state.ignoredTrackers.has(macAddress as string) ||
        (currentTracker !== null && currentTracker !== macAddress)
      )
--- a/gui/src/components/commons/A.tsx
+++ b/gui/src/components/commons/A.tsx
@@ -1,11 +1,13 @@
 import { open } from '@tauri-apps/plugin-shell';
 import { ReactNode } from 'react';

-export function A({ href, children }: { href: string; children?: ReactNode }) {
+export function A({ href, children }: { href?: string; children?: ReactNode }) {
  return (
    <a
      href="javascript:void(0)"
-      onClick={() => open(href).catch(() => window.open(href, '_blank'))}
+      onClick={() =>
+        href && open(href).catch(() => window.open(href, '_blank'))
+      }
      className="underline"
    >
      {children}
--- a/gui/src/components/commons/Checkbox.tsx
+++ b/gui/src/components/commons/Checkbox.tsx
@@ -2,6 +2,10 @@ import classNames from 'classnames';
 import { useMemo } from 'react';
 import { Control, Controller } from 'react-hook-form';

+export const CHECKBOX_CLASSES = classNames(
+  'bg-background-50 border-background-50 rounded-md w-5 h-5 text-accent-background-30 focus:border-accent-background-40 focus:ring-transparent focus:ring-offset-transparent focus:outline-transparent'
+);
+
 export function CheckBox({
  label,
  variant = 'checkbox',
@@ -25,9 +29,7 @@ export function CheckBox({
  const classes = useMemo(() => {
    const vriantsMap = {
      checkbox: {
-        checkbox: classNames(
-          'bg-background-50 border-background-50 rounded-md w-5 h-5 text-accent-background-30 focus:border-accent-background-40 focus:ring-transparent focus:ring-offset-transparent focus:outline-transparent'
-        ),
+        checkbox: CHECKBOX_CLASSES,
        toggle: '',
        pin: '',
      },
--- a/gui/src/components/commons/Input.tsx
+++ b/gui/src/components/commons/Input.tsx
@@ -98,7 +98,7 @@ export const InputInside = forwardRef<
        ></input>
        {type === 'password' && (
          <div
-            className="fill-background-10 absolute inset-y-0 right-0 pr-6 z-10 my-auto w-[16px] h-[16px]"
+            className="fill-background-10 absolute inset-y-0 right-0 pr-6 z-10 my-auto w-[16px] h-[16px] cursor-pointer"
            onClick={togglePassword}
          >
            <EyeIcon width={16} closed={forceText}></EyeIcon>
--- a/gui/src/components/commons/ProgressBar.tsx
+++ b/gui/src/components/commons/ProgressBar.tsx
@@ -7,12 +7,14 @@ export function ProgressBar({
  height = 10,
  colorClass = 'bg-accent-background-20',
  animated = false,
+  bottom = false,
 }: {
  progress: number;
  parts?: number;
  height?: number;
  colorClass?: string;
  animated?: boolean;
+  bottom?: boolean;
 }) {
  return (
    <div className="flex w-full flex-row gap-2">
@@ -25,6 +27,7 @@ export function ProgressBar({
          colorClass={colorClass}
          animated={animated}
          parts={parts}
+          bottom={bottom}
        ></Bar>
      ))}
    </div>
@@ -38,6 +41,7 @@ export function Bar({
  height,
  animated,
  colorClass,
+  bottom,
 }: {
  index: number;
  progress: number;
@@ -45,6 +49,7 @@ export function Bar({
  height: number;
  colorClass: string;
  animated: boolean;
+  bottom: boolean;
 }) {
  const value = useMemo(
    () => Math.min(Math.max((progress * parts) / 1 - index, 0), 1),
@@ -52,12 +57,16 @@ export function Bar({
  );
  return (
    <div
-      className="flex relative flex-grow bg-background-50 rounded-lg overflow-hidden"
+      className={classNames(
+        'flex relative flex-grow bg-background-50 rounded-lg overflow-hidden',
+        bottom && 'rounded-t-none'
+      )}
      style={{ height: `${height}px` }}
    >
      <div
        className={classNames(
-          'rounded-lg overflow-hidden absolute top-0',
+          'overflow-hidden absolute top-0',
+          bottom ? 'rounded-none' : 'rounded-lg',
          animated && 'transition-[width,background-color]',
          colorClass
        )}
--- a/gui/src/components/commons/TipBox.tsx
+++ b/gui/src/components/commons/TipBox.tsx
@@ -64,7 +64,7 @@ export function WarningBox({
      >
        <WarningIcon></WarningIcon>
      </div>
-      <div className="flex flex-col">
+      <div className="flex flex-col justify-center">
        <Typography
          color="text-background-60"
          whitespace={whitespace ? 'whitespace-pre-line' : undefined}
--- a/gui/src/components/commons/VerticalStepper.tsx
+++ b/gui/src/components/commons/VerticalStepper.tsx
@@ -0,0 +1,138 @@
+import classNames from 'classnames';
+import { CheckIcon } from './icon/CheckIcon';
+import { Typography } from './Typography';
+import {
+  FC,
+  ReactNode,
+  useEffect,
+  useLayoutEffect,
+  useRef,
+  useState,
+} from 'react';
+import { useElemSize } from '@/hooks/layout';
+import { useDebouncedEffect } from '@/hooks/timeout';
+
+export function VerticalStep({
+  active,
+  index,
+  children,
+  title,
+}: {
+  active: number;
+  index: number;
+  children: ReactNode;
+  title: string;
+}) {
+  const ref = useRef<HTMLDivElement | null>(null);
+  const refTop = useRef<HTMLLIElement | null>(null);
+  const [shouldAnimate, setShouldAnimate] = useState(false);
+  const { height } = useElemSize(ref);
+
+  const isSelected = active === index;
+  const isPrevious = active > index;
+
+  useEffect(() => {
+    if (!refTop.current) return;
+    if (isSelected)
+      setTimeout(() => {
+        if (!refTop.current) return;
+        refTop.current.scrollIntoView({ behavior: 'smooth' });
+      }, 500);
+  }, [isSelected]);
+
+  useLayoutEffect(() => {
+    setShouldAnimate(true);
+  }, [active]);
+
+  // Make it so it wont try to animate the size
+  // if we are not changing active step
+  useDebouncedEffect(
+    () => {
+      setShouldAnimate(false);
+    },
+    [active],
+    1000
+  );
+
+  return (
+    <li className="mb-10 scroll-m-4" ref={refTop}>
+      <span
+        className={classNames(
+          'absolute flex items-center justify-center w-8 h-8 rounded-full -left-4 transition-colors fill-background-10',
+          {
+            'bg-accent-background-20': isSelected || isPrevious,
+            'bg-background-40': !isSelected && !isPrevious,
+          }
+        )}
+      >
+        {isPrevious ? (
+          <CheckIcon></CheckIcon>
+        ) : (
+          <Typography variant="section-title">{index + 1}</Typography>
+        )}
+      </span>
+      <div className="ml-7 pt-1.5">
+        <div className="px-1">
+          <Typography variant="section-title">{title}</Typography>
+        </div>
+        <div
+          style={{ height: !isSelected ? 0 : height }}
+          className={classNames('overflow-clip px-1', {
+            'duration-500 transition-[height]': shouldAnimate,
+          })}
+        >
+          <div ref={ref}>{children}</div>
+        </div>
+      </div>
+    </li>
+  );
+}
+
+type VerticalStepComponentType = FC<{
+  nextStep: () => void;
+  prevStep: () => void;
+  goTo: (id: string) => void;
+  isActive: boolean;
+}>;
+
+export type VerticalStep = {
+  title: string;
+  id?: string;
+  component: VerticalStepComponentType;
+};
+
+export default function VerticalStepper({ steps }: { steps: VerticalStep[] }) {
+  const [currStep, setStep] = useState(0);
+
+  const nextStep = () => {
+    if (currStep + 1 === steps.length) return;
+    setStep(currStep + 1);
+  };
+
+  const prevStep = () => {
+    if (currStep - 1 < 0) return;
+    setStep(currStep - 1);
+  };
+
+  const goTo = (id: string) => {
+    const step = steps.findIndex(({ id: stepId }) => stepId === id);
+    if (step === -1) throw new Error('step not found');
+
+    setStep(step);
+  };
+
+  return (
+    <ol className="relative border-l border-gray-700 text-gray-400">
+      {steps.map(({ title, component: StepComponent }, index) => (
+        <VerticalStep active={currStep} index={index} title={title} key={index}>
+          <StepComponent
+            nextStep={nextStep}
+            prevStep={prevStep}
+            goTo={goTo}
+            isActive={currStep === index}
+          ></StepComponent>
+        </VerticalStep>
+      ))}
+    </ol>
+  );
+}
--- a/gui/src/components/firmware-tool/AddImusStep.tsx
+++ b/gui/src/components/firmware-tool/AddImusStep.tsx
@@ -0,0 +1,308 @@
+import { Localized, useLocalization } from '@fluent/react';
+import { Typography } from '@/components/commons/Typography';
+import { LoaderIcon, SlimeState } from '@/components/commons/icon/LoaderIcon';
+import { useFirmwareTool } from '@/hooks/firmware-tool';
+import { Button } from '@/components/commons/Button';
+import { Control, useForm } from 'react-hook-form';
+import {
+  CreateImuConfigDTO,
+  Imudto,
+} from '@/firmware-tool-api/firmwareToolSchemas';
+import { Dropdown } from '@/components/commons/Dropdown';
+import { TrashIcon } from '@/components/commons/icon/TrashIcon';
+import { Input } from '@/components/commons/Input';
+import {
+  ArrowDownIcon,
+  ArrowUpIcon,
+} from '@/components/commons/icon/ArrowIcons';
+import { useEffect, useRef, useState } from 'react';
+import classNames from 'classnames';
+import { useElemSize } from '@/hooks/layout';
+import { useGetFirmwaresImus } from '@/firmware-tool-api/firmwareToolComponents';
+import { CheckBox } from '@/components/commons/Checkbox';
+
+function IMUCard({
+  control,
+  imuTypes,
+  hasIntPin,
+  index,
+  onDelete,
+}: {
+  imuTypes: Imudto[];
+  hasIntPin: boolean;
+  control: Control<{ imus: CreateImuConfigDTO[] }, any>;
+  index: number;
+  onDelete: () => void;
+}) {
+  const { l10n } = useLocalization();
+  const [open, setOpen] = useState(false);
+  const ref = useRef<HTMLDivElement | null>(null);
+  const { height } = useElemSize(ref);
+
+  return (
+    <div className="rounded-lg flex flex-col text-background-10">
+      <div className="flex gap-3 p-4 shadow-md bg-background-50 rounded-md">
+        <div className="bg-accent-background-40 rounded-full h-8 w-9 mt-[28px] flex flex-col items-center justify-center">
+          <Typography variant="section-title" bold>
+            {index + 1}
+          </Typography>
+        </div>
+        <div className={'w-full flex flex-col gap-2'}>
+          <div className="grid xs-settings:grid-cols-2 mobile-settings:grid-cols-1 gap-3 fill-background-10">
+            <label className="flex flex-col justify-end gap-1">
+              <Localized id="firmware_tool-add_imus_step-imu_type-label"></Localized>
+              <Dropdown
+                control={control}
+                name={`imus[${index}].type`}
+                items={imuTypes.map(({ type }) => ({
+                  label: type.split('_').slice(1).join(' '),
+                  value: type,
+                }))}
+                variant="secondary"
+                maxHeight="25vh"
+                placeholder={l10n.getString(
+                  'firmware_tool-add_imus_step-imu_type-placeholder'
+                )}
+                direction="down"
+                display="block"
+              ></Dropdown>
+            </label>
+            <Localized
+              id="firmware_tool-add_imus_step-imu_rotation"
+              attrs={{ label: true, placeholder: true }}
+            >
+              <Input
+                control={control}
+                rules={{
+                  required: true,
+                }}
+                type="number"
+                name={`imus[${index}].rotation`}
+                variant="primary"
+                label="Rotation Degree"
+                placeholder="Rotation Degree"
+                autocomplete="off"
+              ></Input>
+            </Localized>
+          </div>
+          <div
+            className="duration-500 transition-[height] overflow-hidden"
+            style={{ height: open ? height : 0 }}
+          >
+            <div
+              ref={ref}
+              className="grid xs-settings:grid-cols-2 mobile-settings:grid-cols-1 gap-2"
+            >
+              <Localized
+                id="firmware_tool-add_imus_step-scl_pin"
+                attrs={{ label: true, placeholder: true }}
+              >
+                <Input
+                  control={control}
+                  rules={{ required: true }}
+                  type="text"
+                  name={`imus[${index}].sclPin`}
+                  variant="primary"
+                  autocomplete="off"
+                ></Input>
+              </Localized>
+              <Localized
+                id="firmware_tool-add_imus_step-sda_pin"
+                attrs={{ label: true, placeholder: true }}
+              >
+                <Input
+                  control={control}
+                  rules={{ required: true }}
+                  type="text"
+                  name={`imus[${index}].sdaPin`}
+                  variant="primary"
+                  label="SDA Pin"
+                  placeholder="SDA Pin"
+                  autocomplete="off"
+                ></Input>
+              </Localized>
+
+              {hasIntPin && (
+                <Localized
+                  id="firmware_tool-add_imus_step-int_pin"
+                  attrs={{ label: true, placeholder: true }}
+                >
+                  <Input
+                    control={control}
+                    rules={{ required: true }}
+                    type="text"
+                    name={`imus[${index}].intPin`}
+                    variant="primary"
+                    autocomplete="off"
+                  ></Input>
+                </Localized>
+              )}
+              <label className="flex flex-col justify-end gap-1 md:pt-3 sm:pt-3">
+                <Localized
+                  id="firmware_tool-add_imus_step-optional_tracker"
+                  attrs={{ label: true }}
+                >
+                  <CheckBox
+                    control={control}
+                    name={`imus[${index}].optional`}
+                    variant="toggle"
+                    color="tertiary"
+                    label=""
+                  ></CheckBox>
+                </Localized>
+              </label>
+            </div>
+          </div>
+        </div>
+        <div className="flex flex-col items-center mt-[25px] fill-background-10">
+          <Button variant="quaternary" rounded onClick={onDelete}>
+            <TrashIcon size={15}></TrashIcon>
+          </Button>
+        </div>
+      </div>
+      <div
+        className="items-center flex justify-center hover:bg-background-60 bg-background-80 -mt-0.5 transition-colors duration-300  fill-background-10 rounded-b-lg pt-1 pb-0.5"
+        onClick={() => setOpen(!open)}
+      >
+        <Typography>
+          {l10n.getString(
+            open
+              ? 'firmware_tool-add_imus_step-show_less'
+              : 'firmware_tool-add_imus_step-show_more'
+          )}
+        </Typography>
+        {!open && <ArrowDownIcon></ArrowDownIcon>}
+        {open && <ArrowUpIcon></ArrowUpIcon>}
+      </div>
+    </div>
+  );
+}
+
+export function AddImusStep({
+  nextStep,
+  prevStep,
+  isActive,
+}: {
+  nextStep: () => void;
+  prevStep: () => void;
+  goTo: (id: string) => void;
+  isActive: boolean;
+}) {
+  const { l10n } = useLocalization();
+  const {
+    isStepLoading: isLoading,
+    newConfig,
+    defaultConfig,
+    updateImus,
+  } = useFirmwareTool();
+
+  const {
+    control,
+    formState: { isValid: isValidState },
+    reset,
+    watch,
+  } = useForm<{ imus: CreateImuConfigDTO[] }>({
+    defaultValues: {
+      imus: [],
+    },
+    reValidateMode: 'onChange',
+    mode: 'onChange',
+  });
+
+  useEffect(() => {
+    reset({
+      imus: newConfig?.imusConfig || [],
+    });
+  }, [isActive]);
+
+  const { isFetching, data: imuTypes } = useGetFirmwaresImus({});
+
+  const isAckchuallyLoading = isFetching || isLoading;
+  const form = watch();
+
+  const addImu = () => {
+    if (!newConfig || !defaultConfig) throw new Error('unreachable');
+
+    const imuPinToAdd =
+      defaultConfig.imuDefaults[form.imus.length ?? 0] ??
+      defaultConfig.imuDefaults[0];
+    const imuTypeToAdd: CreateImuConfigDTO['type'] =
+      form.imus[0]?.type ?? 'IMU_BNO085';
+    reset({
+      imus: [...form.imus, { ...imuPinToAdd, type: imuTypeToAdd }],
+    });
+  };
+  const deleteImu = (index: number) => {
+    reset({ imus: form.imus.filter((_, i) => i !== index) });
+  };
+
+  return (
+    <>
+      <div className="flex flex-col w-full">
+        <div className="flex flex-col gap-4">
+          <Typography color="secondary">
+            {l10n.getString('firmware_tool-board_pins_step-description')}
+          </Typography>
+        </div>
+        <div className="my-4 flex flex-col gap-4">
+          {!isAckchuallyLoading && imuTypes && newConfig && (
+            <>
+              <div className="flex flex-col gap-3">
+                <div
+                  className={classNames(
+                    'grid gap-2 px-2',
+                    form.imus.length > 1
+                      ? 'md:grid-cols-2 mobile-settings:grid-cols-1'
+                      : 'grid-cols-1'
+                  )}
+                >
+                  {form.imus.map((imu, index) => (
+                    <IMUCard
+                      control={control}
+                      imuTypes={imuTypes}
+                      key={`${index}:${imu.type}`}
+                      hasIntPin={
+                        imuTypes?.find(({ type: t }) => t == imu.type)
+                          ?.hasIntPin ?? false
+                      }
+                      index={index}
+                      onDelete={() => deleteImu(index)}
+                    ></IMUCard>
+                  ))}
+                </div>
+                <div className="flex justify-center">
+                  <Localized id="firmware_tool-add_imus_step-add_more">
+                    <Button variant="primary" onClick={addImu}></Button>
+                  </Localized>
+                </div>
+              </div>
+              <div className="flex justify-between">
+                <Localized id="firmware_tool-previous_step">
+                  <Button variant="tertiary" onClick={prevStep}></Button>
+                </Localized>
+                <Localized id="firmware_tool-next_step">
+                  <Button
+                    variant="primary"
+                    disabled={!isValidState || form.imus.length === 0}
+                    onClick={() => {
+                      updateImus(form.imus);
+                      nextStep();
+                    }}
+                  ></Button>
+                </Localized>
+              </div>
+            </>
+          )}
+          {isAckchuallyLoading && (
+            <div className="flex justify-center flex-col items-center gap-3 h-44">
+              <LoaderIcon slimeState={SlimeState.JUMPY}></LoaderIcon>
+              <Localized id="firmware_tool-loading">
+                <Typography color="secondary"></Typography>
+              </Localized>
+            </div>
+          )}
+        </div>
+      </div>
+    </>
+  );
+}
--- a/gui/src/components/firmware-tool/BoardPinsStep.tsx
+++ b/gui/src/components/firmware-tool/BoardPinsStep.tsx
@@ -0,0 +1,198 @@
+import { Localized, useLocalization } from '@fluent/react';
+import { Typography } from '@/components/commons/Typography';
+import { LoaderIcon, SlimeState } from '@/components/commons/icon/LoaderIcon';
+import { useFirmwareTool } from '@/hooks/firmware-tool';
+import { Button } from '@/components/commons/Button';
+import { useForm } from 'react-hook-form';
+import { Input } from '@/components/commons/Input';
+import { useEffect } from 'react';
+import { CheckBox } from '@/components/commons/Checkbox';
+import { CreateBoardConfigDTO } from '@/firmware-tool-api/firmwareToolSchemas';
+import { Dropdown } from '@/components/commons/Dropdown';
+import classNames from 'classnames';
+import { useGetFirmwaresBatteries } from '@/firmware-tool-api/firmwareToolComponents';
+
+export type BoardPinsForm = Omit<CreateBoardConfigDTO, 'type'>;
+
+export function BoardPinsStep({
+  nextStep,
+  prevStep,
+}: {
+  nextStep: () => void;
+  prevStep: () => void;
+}) {
+  const { l10n } = useLocalization();
+  const {
+    isStepLoading: isLoading,
+    defaultConfig,
+    updatePins,
+  } = useFirmwareTool();
+  const { isFetching, data: batteryTypes } = useGetFirmwaresBatteries({});
+
+  const { reset, control, watch, formState } = useForm<BoardPinsForm>({
+    reValidateMode: 'onChange',
+    defaultValues: {
+      batteryResistances: [0, 0, 0],
+    },
+    mode: 'onChange',
+  });
+
+  const formValue = watch();
+  const ledEnabled = watch('enableLed');
+  const batteryType = watch('batteryType');
+
+  useEffect(() => {
+    if (!defaultConfig) return;
+    const { type, ...resetConfig } = defaultConfig.boardConfig;
+    reset({
+      ...resetConfig,
+    });
+  }, [defaultConfig]);
+
+  return (
+    <>
+      <div className="flex flex-col w-full justify-between text-background-10">
+        <div className="flex flex-col gap-4">
+          <Typography color="secondary">
+            {l10n.getString('firmware_tool-board_pins_step-description')}
+          </Typography>
+        </div>
+        <div className="my-4 p-2">
+          {!isLoading && !isFetching && batteryTypes && (
+            <form className="flex flex-col gap-2">
+              <div className="grid xs-settings:grid-cols-2 mobile-settings:grid-cols-1 gap-2">
+                <label className="flex flex-col justify-end">
+                  {/* Allows to have the right spacing at the top of the checkbox */}
+                  <CheckBox
+                    control={control}
+                    color="tertiary"
+                    name="enableLed"
+                    variant="toggle"
+                    outlined
+                    label={l10n.getString(
+                      'firmware_tool-board_pins_step-enable_led'
+                    )}
+                  ></CheckBox>
+                </label>
+                <Localized
+                  id="firmware_tool-board_pins_step-led_pin"
+                  attrs={{ placeholder: true, label: true }}
+                >
+                  <Input
+                    control={control}
+                    rules={{ required: true }}
+                    type="text"
+                    name="ledPin"
+                    variant="secondary"
+                    disabled={!ledEnabled}
+                  ></Input>
+                </Localized>
+              </div>
+              <div
+                className={classNames(
+                  batteryType === 'BAT_EXTERNAL' &&
+                    'bg-background-80 p-2 rounded-md',
+                  'transition-all duration-500 flex-col flex gap-2'
+                )}
+              >
+                <Dropdown
+                  control={control}
+                  name="batteryType"
+                  variant="primary"
+                  placeholder={l10n.getString(
+                    'firmware_tool-board_pins_step-battery_type'
+                  )}
+                  direction="up"
+                  display="block"
+                  items={batteryTypes.map((battery) => ({
+                    label: l10n.getString(
+                      'firmware_tool-board_pins_step-battery_type-' + battery
+                    ),
+                    value: battery,
+                  }))}
+                ></Dropdown>
+                {batteryType === 'BAT_EXTERNAL' && (
+                  <div className="grid grid-cols-2 gap-2">
+                    <Localized
+                      id="firmware_tool-board_pins_step-battery_sensor_pin"
+                      attrs={{ placeholder: true, label: true }}
+                    >
+                      <Input
+                        control={control}
+                        rules={{ required: true }}
+                        type="text"
+                        name="batteryPin"
+                        variant="secondary"
+                      ></Input>
+                    </Localized>
+                    <Localized
+                      id="firmware_tool-board_pins_step-battery_resistor"
+                      attrs={{ placeholder: true, label: true }}
+                    >
+                      <Input
+                        control={control}
+                        rules={{ required: true, min: 0 }}
+                        type="number"
+                        name="batteryResistances[0]"
+                        variant="secondary"
+                        label="Battery Resistor"
+                        placeholder="Battery Resistor"
+                      ></Input>
+                    </Localized>
+                    <Localized
+                      id="firmware_tool-board_pins_step-battery_shield_resistor-0"
+                      attrs={{ placeholder: true, label: true }}
+                    >
+                      <Input
+                        control={control}
+                        rules={{ required: true, min: 0 }}
+                        type="number"
+                        name="batteryResistances[1]"
+                        variant="secondary"
+                      ></Input>
+                    </Localized>
+                    <Localized
+                      id="firmware_tool-board_pins_step-battery_shield_resistor-1"
+                      attrs={{ placeholder: true, label: true }}
+                    >
+                      <Input
+                        control={control}
+                        rules={{ required: true, min: 0 }}
+                        type="number"
+                        name="batteryResistances[2]"
+                        variant="secondary"
+                      ></Input>
+                    </Localized>
+                  </div>
+                )}
+              </div>
+            </form>
+          )}
+          {(isLoading || isFetching) && (
+            <div className="flex justify-center flex-col items-center gap-3 h-44">
+              <LoaderIcon slimeState={SlimeState.JUMPY}></LoaderIcon>
+              <Localized id="firmware_tool-loading">
+                <Typography color="secondary"></Typography>
+              </Localized>
+            </div>
+          )}
+        </div>
+        <div className="flex justify-between">
+          <Localized id="firmware_tool-previous_step">
+            <Button variant="tertiary" onClick={prevStep}></Button>
+          </Localized>
+          <Localized id="firmware_tool-ok">
+            <Button
+              variant="primary"
+              disabled={Object.keys(formState.errors).length !== 0}
+              onClick={() => {
+                updatePins(formValue);
+                nextStep();
+              }}
+            ></Button>
+          </Localized>
+        </div>
+      </div>
+    </>
+  );
+}
--- a/gui/src/components/firmware-tool/BuildStep.tsx
+++ b/gui/src/components/firmware-tool/BuildStep.tsx
@@ -0,0 +1,111 @@
+import { Localized, useLocalization } from '@fluent/react';
+import { Typography } from '@/components/commons/Typography';
+import { fetchPostFirmwaresBuild } from '@/firmware-tool-api/firmwareToolComponents';
+import { LoaderIcon, SlimeState } from '@/components/commons/icon/LoaderIcon';
+import { useFirmwareTool } from '@/hooks/firmware-tool';
+import {
+  BuildResponseDTO,
+  CreateBuildFirmwareDTO,
+} from '@/firmware-tool-api/firmwareToolSchemas';
+import { useEffect, useMemo } from 'react';
+import { firmwareToolBaseUrl } from '@/firmware-tool-api/firmwareToolFetcher';
+import { Button } from '@/components/commons/Button';
+
+export function BuildStep({
+  isActive,
+  goTo,
+  nextStep,
+}: {
+  nextStep: () => void;
+  prevStep: () => void;
+  goTo: (id: string) => void;
+  isActive: boolean;
+}) {
+  const { l10n } = useLocalization();
+  const { isGlobalLoading, newConfig, setBuildStatus, buildStatus } =
+    useFirmwareTool();
+
+  const startBuild = async () => {
+    try {
+      const res = await fetchPostFirmwaresBuild({
+        body: newConfig as CreateBuildFirmwareDTO,
+      });
+
+      setBuildStatus(res);
+      if (res.status !== 'DONE') {
+        const events = new EventSource(
+          `${firmwareToolBaseUrl}/firmwares/build-status/${res.id}`
+        );
+        events.onmessage = ({ data }) => {
+          const buildEvent: BuildResponseDTO = JSON.parse(data);
+          setBuildStatus(buildEvent);
+        };
+      }
+    } catch (e) {
+      console.error(e);
+      setBuildStatus({ id: '', status: 'ERROR' });
+    }
+  };
+
+  useEffect(() => {
+    if (!isActive) return;
+    startBuild();
+  }, [isActive]);
+
+  useEffect(() => {
+    if (!isActive) return;
+    if (buildStatus.status === 'DONE') {
+      nextStep();
+    }
+  }, [buildStatus]);
+
+  const hasPendingBuild = useMemo(
+    () => !['DONE', 'ERROR'].includes(buildStatus.status),
+    [buildStatus.status]
+  );
+
+  return (
+    <>
+      <div className="flex flex-col w-full">
+        <div className="flex flex-grow flex-col gap-4">
+          <Typography color="secondary">
+            {l10n.getString('firmware_tool-build_step-description')}
+          </Typography>
+        </div>
+        <div className="my-4">
+          {!isGlobalLoading && (
+            <div className="flex justify-center flex-col items-center gap-3 h-44">
+              <LoaderIcon
+                slimeState={
+                  buildStatus.status !== 'ERROR'
+                    ? SlimeState.JUMPY
+                    : SlimeState.SAD
+                }
+              ></LoaderIcon>
+              <Typography variant="section-title" color="secondary">
+                {l10n.getString('firmware_tool-build-' + buildStatus.status)}
+              </Typography>
+            </div>
+          )}
+          {isGlobalLoading && (
+            <div className="flex justify-center flex-col items-center gap-3 h-44">
+              <LoaderIcon slimeState={SlimeState.JUMPY}></LoaderIcon>
+              <Localized id="firmware_tool-loading">
+                <Typography color="secondary"></Typography>
+              </Localized>
+            </div>
+          )}
+        </div>
+        <div className="flex justify-end">
+          <Localized id="firmware_tool-retry">
+            <Button
+              variant="secondary"
+              disabled={hasPendingBuild}
+              onClick={() => goTo('FlashingMethod')}
+            ></Button>
+          </Localized>
+        </div>
+      </div>
+    </>
+  );
+}
--- a/gui/src/components/firmware-tool/DeviceCard.tsx
+++ b/gui/src/components/firmware-tool/DeviceCard.tsx
@@ -0,0 +1,132 @@
+import { CHECKBOX_CLASSES } from '@/components/commons/Checkbox';
+import { ProgressBar } from '@/components/commons/ProgressBar';
+import { Typography } from '@/components/commons/Typography';
+import { firmwareUpdateErrorStatus } from '@/hooks/firmware-tool';
+import { useLocalization } from '@fluent/react';
+import classNames from 'classnames';
+import { Control, Controller } from 'react-hook-form';
+import {
+  FirmwareUpdateStatus,
+  TrackerStatus as TrackerStatusEnum,
+} from 'solarxr-protocol';
+import { TrackerStatus } from '@/components/tracker/TrackerStatus';
+
+interface DeviceCardProps {
+  deviceNames: string[];
+  status?: FirmwareUpdateStatus;
+  online?: boolean | null;
+}
+
+interface DeviceCardControlProps {
+  control?: Control<any>;
+  name?: string;
+  progress?: number;
+  disabled?: boolean;
+}
+
+export function DeviceCardContent({ deviceNames, status }: DeviceCardProps) {
+  const { l10n } = useLocalization();
+
+  return (
+    <div className="p-2 flex h-full gap-2 justify-between flex-col">
+      <div className="flex flex-row flex-wrap gap-2 items-center h-full">
+        {deviceNames.map((name) => (
+          <span
+            key={name}
+            className="p-1 px-3 rounded-l-full rounded-r-full bg-background-40"
+          >
+            <Typography>{name}</Typography>
+          </span>
+        ))}
+      </div>
+      {status !== undefined ? (
+        <Typography color="secondary">
+          {l10n.getString(
+            'firmware_update-status-' + FirmwareUpdateStatus[status]
+          )}
+        </Typography>
+      ) : (
+        <Typography> </Typography> // placeholder so the size of the component does not change if there is no status
+      )}
+    </div>
+  );
+}
+
+export function DeviceCardControl({
+  control,
+  name,
+  progress,
+  disabled = false,
+  online = null,
+  ...props
+}: DeviceCardControlProps & DeviceCardProps) {
+  return (
+    <div
+      className={classNames(
+        'rounded-md bg-background-60 h-[86px] pt-2 flex flex-col justify-between border-2 relative',
+        props.status &&
+          firmwareUpdateErrorStatus.includes(props.status) &&
+          'border-status-critical',
+        props.status === FirmwareUpdateStatus.DONE && 'border-status-success',
+        (!props.status ||
+          (props.status !== FirmwareUpdateStatus.DONE &&
+            !firmwareUpdateErrorStatus.includes(props.status))) &&
+          'border-transparent'
+      )}
+    >
+      {control && name ? (
+        <Controller
+          control={control}
+          name={name}
+          render={({ field: { onChange, value, ref } }) => (
+            <label className="flex flex-row gap-2 px-4 h-full">
+              <div className="flex justify-center flex-col">
+                <input
+                  ref={ref}
+                  onChange={onChange}
+                  className={CHECKBOX_CLASSES}
+                  checked={value || false}
+                  type="checkbox"
+                  disabled={disabled}
+                ></input>
+              </div>
+
+              <div className="w-full">
+                <DeviceCardContent {...props}></DeviceCardContent>
+              </div>
+            </label>
+          )}
+        ></Controller>
+      ) : (
+        <div className="px-2 h-full">
+          <DeviceCardContent {...props}></DeviceCardContent>
+        </div>
+      )}
+      <div
+        className={classNames(
+          'align-bottom',
+          props.status != FirmwareUpdateStatus.UPLOADING ||
+            progress === undefined
+            ? 'opacity-0'
+            : 'opacity-100'
+        )}
+      >
+        <ProgressBar
+          progress={progress || 0}
+          bottom
+          height={6}
+          colorClass="bg-accent-background-20"
+        ></ProgressBar>
+      </div>
+      {online !== null && (
+        <div className="absolute top-2 right-2">
+          <TrackerStatus
+            status={
+              online ? TrackerStatusEnum.OK : TrackerStatusEnum.DISCONNECTED
+            }
+          ></TrackerStatus>
+        </div>
+      )}
+    </div>
+  );
+}
--- a/gui/src/components/firmware-tool/FirmwareTool.tsx
+++ b/gui/src/components/firmware-tool/FirmwareTool.tsx
@@ -0,0 +1,140 @@
+import { Localized, useLocalization } from '@fluent/react';
+import { Typography } from '@/components/commons/Typography';
+import { QueryClient, QueryClientProvider } from '@tanstack/react-query';
+import {
+  FirmwareToolContextC,
+  useFirmwareToolContext,
+} from '@/hooks/firmware-tool';
+import { AddImusStep } from './AddImusStep';
+import { SelectBoardStep } from './SelectBoardStep';
+import { BoardPinsStep } from './BoardPinsStep';
+import VerticalStepper from '@/components/commons/VerticalStepper';
+import { LoaderIcon, SlimeState } from '@/components/commons/icon/LoaderIcon';
+import { Button } from '@/components/commons/Button';
+import { SelectFirmwareStep } from './SelectFirmwareStep';
+import { BuildStep } from './BuildStep';
+import { FlashingMethodStep } from './FlashingMethodStep';
+import { FlashingStep } from './FlashingStep';
+import { FlashBtnStep } from './FlashBtnStep';
+import { FirmwareUpdateMethod } from 'solarxr-protocol';
+import { useMemo } from 'react';
+
+function FirmwareToolContent() {
+  const { l10n } = useLocalization();
+  const context = useFirmwareToolContext();
+  const { isError, isGlobalLoading: isLoading, retry, isCompatible } = context;
+
+  const steps = useMemo(() => {
+    const steps = [
+      {
+        id: 'SelectBoard',
+        component: SelectBoardStep,
+        title: l10n.getString('firmware_tool-board_step'),
+      },
+      {
+        component: BoardPinsStep,
+        title: l10n.getString('firmware_tool-board_pins_step'),
+      },
+      {
+        component: AddImusStep,
+        title: l10n.getString('firmware_tool-add_imus_step'),
+      },
+      {
+        id: 'SelectFirmware',
+        component: SelectFirmwareStep,
+        title: l10n.getString('firmware_tool-select_firmware_step'),
+      },
+      {
+        component: FlashingMethodStep,
+        id: 'FlashingMethod',
+        title: l10n.getString('firmware_tool-flash_method_step'),
+      },
+      {
+        component: BuildStep,
+        title: l10n.getString('firmware_tool-build_step'),
+      },
+      {
+        component: FlashingStep,
+        title: l10n.getString('firmware_tool-flashing_step'),
+      },
+    ];
+
+    if (
+      context.defaultConfig?.needBootPress &&
+      context.selectedDevices?.find(
+        ({ type }) => type === FirmwareUpdateMethod.SerialFirmwareUpdate
+      )
+    ) {
+      steps.splice(5, 0, {
+        component: FlashBtnStep,
+        title: l10n.getString('firmware_tool-flashbtn_step'),
+      });
+    }
+    return steps;
+  }, [context.defaultConfig?.needBootPress, context.selectedDevices, l10n]);
+
+  return (
+    <FirmwareToolContextC.Provider value={context}>
+      <div className="flex flex-col bg-background-70 p-4 rounded-md">
+        <Typography variant="main-title">
+          {l10n.getString('firmware_tool')}
+        </Typography>
+        <div className="flex flex-col pt-2 pb-4">
+          <>
+            {l10n
+              .getString('firmware_tool-description')
+              .split('\n')
+              .map((line, i) => (
+                <Typography color="secondary" key={i}>
+                  {line}
+                </Typography>
+              ))}
+          </>
+        </div>
+        <div className="m-4 h-full">
+          {isError && (
+            <div className="w-full flex flex-col justify-center items-center gap-3 h-full">
+              <LoaderIcon slimeState={SlimeState.SAD}></LoaderIcon>
+              {!isCompatible ? (
+                <Localized id="firmware_tool-not_compatible">
+                  <Typography variant="section-title"></Typography>
+                </Localized>
+              ) : (
+                <Localized id="firmware_tool-not_available">
+                  <Typography variant="section-title"></Typography>
+                </Localized>
+              )}
+              <Localized id="firmware_tool-retry">
+                <Button variant="primary" onClick={retry}></Button>
+              </Localized>
+            </div>
+          )}
+          {isLoading && (
+            <div className="w-full flex flex-col justify-center items-center gap-3 h-full">
+              <LoaderIcon slimeState={SlimeState.JUMPY}></LoaderIcon>
+              <Localized id="firmware_tool-loading">
+                <Typography variant="section-title"></Typography>
+              </Localized>
+            </div>
+          )}
+          {!isError && !isLoading && <VerticalStepper steps={steps} />}
+        </div>
+      </div>
+    </FirmwareToolContextC.Provider>
+  );
+}
+
+export function FirmwareToolSettings() {
+  const queryClient = new QueryClient({
+    defaultOptions: {
+      queries: {
+        refetchOnWindowFocus: false, // default: true
+      },
+    },
+  });
+  return (
+    <QueryClientProvider client={queryClient}>
+      <FirmwareToolContent />
+    </QueryClientProvider>
+  );
+}
--- a/gui/src/components/firmware-tool/FlashBtnStep.tsx
+++ b/gui/src/components/firmware-tool/FlashBtnStep.tsx
@@ -0,0 +1,86 @@
+import { Localized, useLocalization } from '@fluent/react';
+import { Typography } from '@/components/commons/Typography';
+import { Button } from '@/components/commons/Button';
+import {
+  boardTypeToFirmwareToolBoardType,
+  useFirmwareTool,
+} from '@/hooks/firmware-tool';
+import { BoardType } from 'solarxr-protocol';
+
+export function FlashBtnStep({
+  nextStep,
+}: {
+  nextStep: () => void;
+  prevStep: () => void;
+  goTo: (id: string) => void;
+  isActive: boolean;
+}) {
+  const { l10n } = useLocalization();
+  const { defaultConfig } = useFirmwareTool();
+
+  return (
+    <>
+      <div className="flex flex-col w-full">
+        <div className="flex flex-grow flex-col gap-4">
+          <Typography color="secondary">
+            {l10n.getString('firmware_tool-flashbtn_step-description')}
+          </Typography>
+          {defaultConfig?.boardConfig.type ===
+          boardTypeToFirmwareToolBoardType[BoardType.SLIMEVR] ? (
+            <>
+              <Typography variant="standard" whitespace="whitespace-pre">
+                {l10n.getString('firmware_tool-flashbtn_step-board_SLIMEVR')}
+              </Typography>
+              <div className="gap-2 grid lg:grid-cols-3 md:grid-cols-2 mobile:grid-cols-1">
+                <div className="bg-background-80 p-2 rounded-lg gap-2 flex flex-col justify-between">
+                  <Typography variant="main-title">R11</Typography>
+                  <Typography variant="standard">
+                    {l10n.getString(
+                      'firmware_tool-flashbtn_step-board_SLIMEVR-r11'
+                    )}
+                  </Typography>
+                  <img src="/images/R11_board_reset.webp"></img>
+                </div>
+                <div className="bg-background-80 p-2 rounded-lg gap-2 flex flex-col justify-between">
+                  <Typography variant="main-title">R12</Typography>
+                  <Typography variant="standard">
+                    {l10n.getString(
+                      'firmware_tool-flashbtn_step-board_SLIMEVR-r12'
+                    )}
+                  </Typography>
+                  <img src="/images/R12_board_reset.webp"></img>
+                </div>
+
+                <div className="bg-background-80 p-2 rounded-lg gap-2 flex flex-col justify-between">
+                  <Typography variant="main-title">R14</Typography>
+                  <Typography variant="standard">
+                    {l10n.getString(
+                      'firmware_tool-flashbtn_step-board_SLIMEVR-r14'
+                    )}
+                  </Typography>
+                  <img src="/images/R14_board_reset_sw.webp"></img>
+                </div>
+              </div>
+            </>
+          ) : (
+            <>
+              <Typography variant="standard" whitespace="whitespace-pre">
+                {l10n.getString('firmware_tool-flashbtn_step-board_OTHER')}
+              </Typography>
+            </>
+          )}
+          <div className="flex justify-end">
+            <Localized id="firmware_tool-next_step">
+              <Button
+                variant="primary"
+                onClick={() => {
+                  nextStep();
+                }}
+              ></Button>
+            </Localized>
+          </div>
+        </div>
+      </div>
+    </>
+  );
+}
--- a/gui/src/components/firmware-tool/FlashingMethodStep.tsx
+++ b/gui/src/components/firmware-tool/FlashingMethodStep.tsx
@@ -0,0 +1,421 @@
+import { Localized, useLocalization } from '@fluent/react';
+import { Typography } from '@/components/commons/Typography';
+import { LoaderIcon, SlimeState } from '@/components/commons/icon/LoaderIcon';
+import {
+  boardTypeToFirmwareToolBoardType,
+  useFirmwareTool,
+} from '@/hooks/firmware-tool';
+import { Control, UseFormReset, UseFormWatch, useForm } from 'react-hook-form';
+import { Radio } from '@/components/commons/Radio';
+import { useWebsocketAPI } from '@/hooks/websocket-api';
+import { useEffect, useLayoutEffect, useState } from 'react';
+import { yupResolver } from '@hookform/resolvers/yup';
+
+import {
+  BoardType,
+  DeviceDataT,
+  FirmwareUpdateMethod,
+  NewSerialDeviceResponseT,
+  RpcMessage,
+  SerialDeviceT,
+  SerialDevicesRequestT,
+  SerialDevicesResponseT,
+  TrackerStatus,
+} from 'solarxr-protocol';
+import { Button } from '@/components/commons/Button';
+import { useAppContext } from '@/hooks/app';
+import { Input } from '@/components/commons/Input';
+import { Dropdown } from '@/components/commons/Dropdown';
+import { useOnboarding } from '@/hooks/onboarding';
+import { DeviceCardControl } from './DeviceCard';
+import { getTrackerName } from '@/hooks/tracker';
+import { ObjectSchema, object, string } from 'yup';
+
+interface FlashingMethodForm {
+  flashingMethod?: string;
+  serial?: {
+    selectedDevicePort: string;
+    ssid: string;
+    password?: string;
+  };
+  ota?: {
+    selectedDevices: { [key: string]: boolean };
+  };
+}
+
+function SerialDevicesList({
+  control,
+  watch,
+  reset,
+}: {
+  control: Control<FlashingMethodForm>;
+  watch: UseFormWatch<FlashingMethodForm>;
+  reset: UseFormReset<FlashingMethodForm>;
+}) {
+  const { l10n } = useLocalization();
+  const { selectDevices } = useFirmwareTool();
+  const { sendRPCPacket, useRPCPacket } = useWebsocketAPI();
+  const [devices, setDevices] = useState<Record<string, SerialDeviceT>>({});
+  const { state, setWifiCredentials } = useOnboarding();
+
+  useLayoutEffect(() => {
+    sendRPCPacket(RpcMessage.SerialDevicesRequest, new SerialDevicesRequestT());
+    selectDevices(null);
+    reset({
+      flashingMethod: FirmwareUpdateMethod.SerialFirmwareUpdate.toString(),
+      serial: {
+        ...state.wifi,
+        selectedDevicePort: undefined,
+      },
+      ota: undefined,
+    });
+  }, []);
+
+  useRPCPacket(
+    RpcMessage.SerialDevicesResponse,
+    (res: SerialDevicesResponseT) => {
+      setDevices((old) =>
+        res.devices.reduce(
+          (curr, device) => ({
+            ...curr,
+            [device?.port?.toString() ?? 'unknown']: device,
+          }),
+          old
+        )
+      );
+    }
+  );
+
+  useRPCPacket(
+    RpcMessage.NewSerialDeviceResponse,
+    ({ device }: NewSerialDeviceResponseT) => {
+      if (device?.port)
+        setDevices((old) => ({
+          ...old,
+          [device?.port?.toString() ?? 'unknown']: device,
+        }));
+    }
+  );
+
+  const serialValues = watch('serial');
+
+  useEffect(() => {
+    if (!serialValues) {
+      selectDevices(null);
+      return;
+    }
+
+    setWifiCredentials(serialValues.ssid, serialValues.password);
+    if (
+      serialValues.selectedDevicePort &&
+      devices[serialValues.selectedDevicePort]
+    ) {
+      selectDevices([
+        {
+          type: FirmwareUpdateMethod.SerialFirmwareUpdate,
+          deviceId: serialValues.selectedDevicePort,
+          deviceNames: [
+            devices[serialValues.selectedDevicePort].name?.toString() ??
+              'unknown',
+          ],
+        },
+      ]);
+    } else {
+      selectDevices(null);
+    }
+  }, [JSON.stringify(serialValues), devices]);
+
+  return (
+    <>
+      <Localized id="firmware_tool-flash_method_serial-wifi">
+        <Typography variant="section-title"></Typography>
+      </Localized>
+      <div className="grid xs-settings:grid-cols-2 mobile-settings:grid-cols-1 gap-3 text-background-10">
+        <Localized
+          id="onboarding-wifi_creds-ssid"
+          attrs={{ placeholder: true, label: true }}
+        >
+          <Input
+            control={control}
+            name="serial.ssid"
+            label="SSID"
+            variant="secondary"
+          />
+        </Localized>
+        <Localized
+          id="onboarding-wifi_creds-password"
+          attrs={{ placeholder: true, label: true }}
+        >
+          <Input
+            control={control}
+            name="serial.password"
+            type="password"
+            variant="secondary"
+          />
+        </Localized>
+      </div>
+      <Localized id="firmware_tool-flash_method_serial-devices-label">
+        <Typography variant="section-title"></Typography>
+      </Localized>
+      {Object.keys(devices).length === 0 ? (
+        <Localized id="firmware_tool-flash_method_serial-no_devices">
+          <Typography variant="standard" color="secondary"></Typography>
+        </Localized>
+      ) : (
+        <Dropdown
+          control={control}
+          name="serial.selectedDevicePort"
+          items={Object.keys(devices).map((port) => ({
+            label: devices[port].name?.toString() ?? 'unknown',
+            value: port,
+          }))}
+          placeholder={l10n.getString(
+            'firmware_tool-flash_method_serial-devices-placeholder'
+          )}
+          display="block"
+          direction="down"
+        ></Dropdown>
+      )}
+    </>
+  );
+}
+
+function OTADevicesList({
+  control,
+  watch,
+  reset,
+}: {
+  control: Control<FlashingMethodForm>;
+  watch: UseFormWatch<FlashingMethodForm>;
+  reset: UseFormReset<FlashingMethodForm>;
+}) {
+  const { l10n } = useLocalization();
+  const { selectDevices, newConfig } = useFirmwareTool();
+  const { state } = useAppContext();
+
+  const devices =
+    state.datafeed?.devices.filter(({ trackers, hardwareInfo }) => {
+      // We make sure the device is not one of these types
+      if (
+        hardwareInfo?.officialBoardType === BoardType.SLIMEVR_LEGACY ||
+        hardwareInfo?.officialBoardType === BoardType.SLIMEVR_DEV ||
+        hardwareInfo?.officialBoardType === BoardType.CUSTOM
+      )
+        return false;
+
+      // if the device has no trackers it is prob misconfigured so we skip for safety
+      if (trackers.length <= 0) return false;
+
+      // We make sure that the tracker is in working condition before doing ota as an error (that could be hardware)
+      // could cause an error during the update
+      if (!trackers.every(({ status }) => status === TrackerStatus.OK))
+        return false;
+
+      const boardType = hardwareInfo?.officialBoardType ?? BoardType.UNKNOWN;
+      return (
+        boardTypeToFirmwareToolBoardType[boardType] ===
+        newConfig?.boardConfig?.type
+      );
+    }) || [];
+
+  const deviceNames = ({ trackers }: DeviceDataT) =>
+    trackers
+      .map(({ info }) => getTrackerName(l10n, info))
+      .filter((i): i is string => !!i);
+
+  const selectedDevices = watch('ota.selectedDevices');
+
+  useLayoutEffect(() => {
+    reset({
+      flashingMethod: FirmwareUpdateMethod.OTAFirmwareUpdate.toString(),
+      ota: {
+        selectedDevices: devices.reduce(
+          (curr, { id }) => ({ ...curr, [id?.id ?? 0]: false }),
+          {}
+        ),
+      },
+      serial: undefined,
+    });
+    selectDevices(null);
+  }, []);
+
+  useEffect(() => {
+    if (selectedDevices) {
+      selectDevices(
+        Object.keys(selectedDevices)
+          .filter((d) => selectedDevices[d])
+          .map((id) => id.substring('id-'.length))
+          .map((id) => {
+            const device = devices.find(
+              ({ id: dId }) => id === dId?.id.toString()
+            );
+
+            if (!device) throw new Error('no device found');
+            return {
+              type: FirmwareUpdateMethod.OTAFirmwareUpdate,
+              deviceId: id,
+              deviceNames: deviceNames(device),
+            };
+          })
+      );
+    }
+  }, [JSON.stringify(selectedDevices)]);
+
+  return (
+    <>
+      <Localized id="firmware_tool-flash_method_ota-devices">
+        <Typography variant="section-title"></Typography>
+      </Localized>
+      {devices.length === 0 && (
+        <Localized id="firmware_tool-flash_method_ota-no_devices">
+          <Typography color="secondary"></Typography>
+        </Localized>
+      )}
+      <div className="grid xs-settings:grid-cols-2 mobile-settings:grid-cols-1 gap-2">
+        {devices.map((device) => (
+          <DeviceCardControl
+            control={control}
+            key={device.id?.id ?? 0}
+            name={`ota.selectedDevices.id-${device.id?.id ?? 0}`}
+            deviceNames={deviceNames(device)}
+          ></DeviceCardControl>
+        ))}
+      </div>
+    </>
+  );
+}
+
+export function FlashingMethodStep({
+  nextStep,
+  prevStep,
+}: {
+  nextStep: () => void;
+  prevStep: () => void;
+  isActive: boolean;
+}) {
+  const { l10n } = useLocalization();
+  const { isGlobalLoading, selectedDevices } = useFirmwareTool();
+
+  const {
+    control,
+    watch,
+    reset,
+    formState: { isValid },
+  } = useForm<FlashingMethodForm>({
+    reValidateMode: 'onChange',
+    mode: 'onChange',
+    resolver: yupResolver(
+      object({
+        flashingMethod: string().optional(),
+        serial: object().when('flashingMethod', {
+          is: FirmwareUpdateMethod.SerialFirmwareUpdate.toString(),
+          then: (s) =>
+            s
+              .shape({
+                selectedDevicePort: string().required(),
+                ssid: string().required(
+                  l10n.getString('onboarding-wifi_creds-ssid-required')
+                ),
+                password: string(),
+              })
+              .required(),
+          otherwise: (s) => s.optional(),
+        }),
+        ota: object().when('flashingMethod', {
+          is: FirmwareUpdateMethod.OTAFirmwareUpdate.toString(),
+          then: (s) =>
+            s
+              .shape({
+                selectedDevices: object(),
+              })
+              .required(),
+          otherwise: (s) => s.optional(),
+        }),
+      }) as ObjectSchema<FlashingMethodForm>
+    ),
+  });
+
+  const flashingMethod = watch('flashingMethod');
+
+  return (
+    <>
+      <div className="flex flex-col w-full">
+        <div className="flex flex-grow flex-col gap-4">
+          <Typography color="secondary">
+            {l10n.getString('firmware_tool-flash_method_step-description')}
+          </Typography>
+        </div>
+        <div className="my-4">
+          {!isGlobalLoading && (
+            <div className="flex flex-col gap-3">
+              <div className="grid xs-settings:grid-cols-2 mobile-settings:grid-cols-1 gap-3">
+                <Localized
+                  id="firmware_tool-flash_method_step-ota"
+                  attrs={{ label: true, description: true }}
+                >
+                  <Radio
+                    control={control}
+                    name="flashingMethod"
+                    value={FirmwareUpdateMethod.OTAFirmwareUpdate.toString()}
+                    label=""
+                  ></Radio>
+                </Localized>
+                <Localized
+                  id="firmware_tool-flash_method_step-serial"
+                  attrs={{ label: true, description: true }}
+                >
+                  <Radio
+                    control={control}
+                    name="flashingMethod"
+                    value={FirmwareUpdateMethod.SerialFirmwareUpdate.toString()}
+                    label=""
+                  ></Radio>
+                </Localized>
+              </div>
+              {flashingMethod ===
+                FirmwareUpdateMethod.SerialFirmwareUpdate.toString() && (
+                <SerialDevicesList
+                  control={control}
+                  watch={watch}
+                  reset={reset}
+                ></SerialDevicesList>
+              )}
+              {flashingMethod ===
+                FirmwareUpdateMethod.OTAFirmwareUpdate.toString() && (
+                <OTADevicesList
+                  control={control}
+                  watch={watch}
+                  reset={reset}
+                ></OTADevicesList>
+              )}
+              <div className="flex justify-between">
+                <Localized id="firmware_tool-previous_step">
+                  <Button variant="secondary" onClick={prevStep}></Button>
+                </Localized>
+                <Localized id="firmware_tool-next_step">
+                  <Button
+                    variant="primary"
+                    disabled={
+                      !isValid ||
+                      selectedDevices === null ||
+                      selectedDevices.length === 0
+                    }
+                    onClick={nextStep}
+                  ></Button>
+                </Localized>
+              </div>
+            </div>
+          )}
+          {isGlobalLoading && (
+            <div className="flex justify-center flex-col items-center gap-3 h-44">
+              <LoaderIcon slimeState={SlimeState.JUMPY}></LoaderIcon>
+              <Localized id="firmware_tool-loading">
+                <Typography color="secondary"></Typography>
+              </Localized>
+            </div>
+          )}
+        </div>
+      </div>
+    </>
+  );
+}
--- a/gui/src/components/firmware-tool/FlashingStep.tsx
+++ b/gui/src/components/firmware-tool/FlashingStep.tsx
@@ -0,0 +1,220 @@
+import { Localized, useLocalization } from '@fluent/react';
+import { Typography } from '@/components/commons/Typography';
+import {
+  SelectedDevice,
+  firmwareUpdateErrorStatus,
+  getFlashingRequests,
+  useFirmwareTool,
+} from '@/hooks/firmware-tool';
+import { useEffect, useMemo, useState } from 'react';
+import { useWebsocketAPI } from '@/hooks/websocket-api';
+import {
+  DeviceIdTableT,
+  FirmwareUpdateMethod,
+  FirmwareUpdateStatus,
+  FirmwareUpdateStatusResponseT,
+  FirmwareUpdateStopQueuesRequestT,
+  RpcMessage,
+} from 'solarxr-protocol';
+import { useOnboarding } from '@/hooks/onboarding';
+import { DeviceCardControl } from './DeviceCard';
+import { WarningBox } from '@/components/commons/TipBox';
+import { Button } from '@/components/commons/Button';
+import { useNavigate } from 'react-router-dom';
+import { firmwareToolS3BaseUrl } from '@/firmware-tool-api/firmwareToolFetcher';
+
+export function FlashingStep({
+  goTo,
+  isActive,
+}: {
+  nextStep: () => void;
+  prevStep: () => void;
+  goTo: (id: string) => void;
+  isActive: boolean;
+}) {
+  const nav = useNavigate();
+  const { l10n } = useLocalization();
+  const { selectedDevices, buildStatus, selectDevices, defaultConfig } =
+    useFirmwareTool();
+  const { state: onboardingState } = useOnboarding();
+  const { sendRPCPacket, useRPCPacket } = useWebsocketAPI();
+  const [status, setStatus] = useState<{
+    [key: string]: {
+      status: FirmwareUpdateStatus;
+      type: FirmwareUpdateMethod;
+      progress: number;
+      deviceNames: string[];
+    };
+  }>({});
+
+  const clear = () => {
+    setStatus({});
+    sendRPCPacket(
+      RpcMessage.FirmwareUpdateStopQueuesRequest,
+      new FirmwareUpdateStopQueuesRequestT()
+    );
+  };
+
+  const queueFlashing = (selectedDevices: SelectedDevice[]) => {
+    clear();
+    if (!buildStatus.firmwareFiles)
+      throw new Error('invalid state - no firmware files');
+    const requests = getFlashingRequests(
+      selectedDevices,
+      buildStatus.firmwareFiles.map(({ url, ...fields }) => ({
+        url: `${firmwareToolS3BaseUrl}/${url}`,
+        ...fields,
+      })),
+      onboardingState,
+      defaultConfig
+    );
+
+    requests.forEach((req) => {
+      sendRPCPacket(RpcMessage.FirmwareUpdateRequest, req);
+    });
+  };
+
+  useEffect(() => {
+    if (!isActive) return;
+    if (!selectedDevices)
+      throw new Error('invalid state - no selected devices');
+    queueFlashing(selectedDevices);
+    return () => clear();
+  }, [isActive]);
+
+  useRPCPacket(
+    RpcMessage.FirmwareUpdateStatusResponse,
+    (data: FirmwareUpdateStatusResponseT) => {
+      if (!data.deviceId) throw new Error('no device id');
+      const id =
+        data.deviceId instanceof DeviceIdTableT
+          ? data.deviceId.id?.id
+          : data.deviceId.port;
+      if (!id) throw new Error('invalid device id');
+
+      const selectedDevice = selectedDevices?.find(
+        ({ deviceId }) => deviceId == id.toString()
+      );
+
+      // We skip the status as it can be old trackers still sending status
+      if (!selectedDevice) return;
+
+      setStatus((last) => ({
+        ...last,
+        [id.toString()]: {
+          progress: data.progress / 100,
+          status: data.status,
+          type: selectedDevice.type,
+          deviceNames: selectedDevice.deviceNames,
+        },
+      }));
+    }
+  );
+
+  const trackerWithErrors = useMemo(
+    () =>
+      Object.keys(status).filter((id) =>
+        firmwareUpdateErrorStatus.includes(status[id].status)
+      ),
+    [status, firmwareUpdateErrorStatus]
+  );
+
+  const retryError = () => {
+    const devices = trackerWithErrors.map((id) => {
+      const device = status[id];
+      return {
+        type: device.type,
+        deviceId: id,
+        deviceNames: device.deviceNames,
+      };
+    });
+
+    selectDevices(devices);
+    queueFlashing(devices);
+  };
+
+  const hasPendingTrackers = useMemo(
+    () =>
+      Object.keys(status).filter((id) =>
+        [
+          FirmwareUpdateStatus.NEED_MANUAL_REBOOT,
+          FirmwareUpdateStatus.DOWNLOADING,
+          FirmwareUpdateStatus.AUTHENTICATING,
+          FirmwareUpdateStatus.REBOOTING,
+          FirmwareUpdateStatus.SYNCING_WITH_MCU,
+          FirmwareUpdateStatus.UPLOADING,
+          FirmwareUpdateStatus.PROVISIONING,
+        ].includes(status[id].status)
+      ).length > 0,
+    [status]
+  );
+
+  const shouldShowRebootWarning = useMemo(
+    () =>
+      Object.keys(status).find((id) =>
+        [
+          FirmwareUpdateStatus.REBOOTING,
+          FirmwareUpdateStatus.UPLOADING,
+        ].includes(status[id].status)
+      ),
+    [status]
+  );
+
+  return (
+    <>
+      <div className="flex flex-col w-full">
+        <div className="flex flex-grow flex-col gap-4">
+          <Typography color="secondary">
+            {l10n.getString('firmware_tool-flashing_step-description')}
+          </Typography>
+        </div>
+
+        <div className="my-4 flex gap-2 flex-col">
+          {shouldShowRebootWarning && (
+            <Localized id="firmware_tool-flashing_step-warning">
+              <WarningBox>Warning</WarningBox>
+            </Localized>
+          )}
+
+          {Object.keys(status).map((id) => {
+            const val = status[id];
+
+            return (
+              <DeviceCardControl
+                status={val.status}
+                progress={val.progress}
+                key={id}
+                deviceNames={val.deviceNames}
+              ></DeviceCardControl>
+            );
+          })}
+          <div className="flex gap-2 self-end">
+            <Localized id="firmware_tool-retry">
+              <Button
+                variant="secondary"
+                disabled={trackerWithErrors.length === 0}
+                onClick={retryError}
+              ></Button>
+            </Localized>
+            <Localized id="firmware_tool-flashing_step-flash_more">
+              <Button
+                variant="secondary"
+                disabled={hasPendingTrackers}
+                onClick={() => goTo('FlashingMethod')}
+              ></Button>
+            </Localized>
+            <Localized id="firmware_tool-flashing_step-exit">
+              <Button
+                variant="primary"
+                onClick={() => {
+                  clear();
+                  nav('/');
+                }}
+              ></Button>
+            </Localized>
+          </div>
+        </div>
+      </div>
+    </>
+  );
+}
--- a/gui/src/components/firmware-tool/SelectBoardStep.tsx
+++ b/gui/src/components/firmware-tool/SelectBoardStep.tsx
@@ -0,0 +1,95 @@
+import { Localized, useLocalization } from '@fluent/react';
+import { Typography } from '@/components/commons/Typography';
+import { LoaderIcon, SlimeState } from '@/components/commons/icon/LoaderIcon';
+import {
+  firmwareToolToBoardType,
+  useFirmwareTool,
+} from '@/hooks/firmware-tool';
+import { CreateBoardConfigDTO } from '@/firmware-tool-api/firmwareToolSchemas';
+import classNames from 'classnames';
+import { Button } from '@/components/commons/Button';
+import { useGetFirmwaresBoards } from '@/firmware-tool-api/firmwareToolComponents';
+import { BoardType } from 'solarxr-protocol';
+
+export function SelectBoardStep({
+  nextStep,
+  goTo,
+}: {
+  nextStep: () => void;
+  prevStep: () => void;
+  goTo: (id: string) => void;
+}) {
+  const { l10n } = useLocalization();
+  const { selectBoard, newConfig, defaultConfig } = useFirmwareTool();
+  const { isFetching, data: boards } = useGetFirmwaresBoards({});
+
+  return (
+    <>
+      <div className="flex flex-col w-full">
+        <div className="flex flex-grow flex-col gap-4">
+          <Typography color="secondary">
+            {l10n.getString('firmware_tool-board_step-description')}
+          </Typography>
+        </div>
+        <div className="my-4">
+          {!isFetching && (
+            <div className="gap-2 flex flex-col">
+              <div className="grid sm:grid-cols-2 mobile-settings:grid-cols-1 gap-2">
+                {boards?.map((board) => (
+                  <div
+                    key={board}
+                    className={classNames(
+                      'p-3 rounded-md hover:bg-background-50',
+                      {
+                        'bg-background-50 text-background-10':
+                          newConfig?.boardConfig?.type === board,
+                        'bg-background-60':
+                          newConfig?.boardConfig?.type !== board,
+                      }
+                    )}
+                    onClick={() => {
+                      selectBoard(board as CreateBoardConfigDTO['type']);
+                    }}
+                  >
+                    {l10n.getString(
+                      `board_type-${
+                        BoardType[
+                          firmwareToolToBoardType[
+                            board as CreateBoardConfigDTO['type']
+                          ] ?? BoardType.UNKNOWN
+                        ]
+                      }`
+                    )}
+                  </div>
+                ))}
+              </div>
+              <div className="flex justify-end">
+                <Localized id="firmware_tool-next_step">
+                  <Button
+                    variant="primary"
+                    disabled={!newConfig?.boardConfig?.type}
+                    onClick={() => {
+                      if (defaultConfig?.shouldOnlyUseDefaults) {
+                        goTo('SelectFirmware');
+                      } else {
+                        nextStep();
+                      }
+                    }}
+                  ></Button>
+                </Localized>
+              </div>
+            </div>
+          )}
+          {isFetching && (
+            <div className="flex justify-center flex-col items-center gap-3 h-44">
+              <LoaderIcon slimeState={SlimeState.JUMPY}></LoaderIcon>
+              <Localized id="firmware_tool-loading">
+                <Typography color="secondary"></Typography>
+              </Localized>
+            </div>
+          )}
+        </div>
+      </div>
+    </>
+  );
+}
--- a/gui/src/components/firmware-tool/SelectFirmwareStep.tsx
+++ b/gui/src/components/firmware-tool/SelectFirmwareStep.tsx
@@ -0,0 +1,120 @@
+import { Localized, useLocalization } from '@fluent/react';
+import { Typography } from '@/components/commons/Typography';
+import { useGetFirmwaresVersions } from '@/firmware-tool-api/firmwareToolComponents';
+import { LoaderIcon, SlimeState } from '@/components/commons/icon/LoaderIcon';
+import { useFirmwareTool } from '@/hooks/firmware-tool';
+import classNames from 'classnames';
+import { Button } from '@/components/commons/Button';
+import { useMemo } from 'react';
+import { CheckBox } from '@/components/commons/Checkbox';
+import { useForm } from 'react-hook-form';
+
+export function SelectFirmwareStep({
+  nextStep,
+  prevStep,
+  goTo,
+}: {
+  nextStep: () => void;
+  prevStep: () => void;
+  goTo: (id: string) => void;
+}) {
+  const { l10n } = useLocalization();
+  const { selectVersion, newConfig, defaultConfig } = useFirmwareTool();
+  const { isFetching, data: firmwares } = useGetFirmwaresVersions({});
+
+  const { control, watch } = useForm<{ thirdParty: boolean }>({});
+
+  const showThirdParty = watch('thirdParty');
+
+  const getName = (name: string) => {
+    return showThirdParty ? name : name.substring(name.indexOf('/') + 1);
+  };
+
+  const filteredFirmwares = useMemo(() => {
+    return firmwares?.filter(
+      ({ name }) => name.split('/')[0] === 'SlimeVR' || showThirdParty
+    );
+  }, [firmwares, showThirdParty]);
+
+  return (
+    <>
+      <div className="flex flex-col w-full">
+        <div className="flex justify-between items-center mobile:flex-col gap-4">
+          <Typography color="secondary">
+            {l10n.getString('firmware_tool-select_firmware_step-description')}
+          </Typography>
+          <div>
+            <Localized
+              id="firmware_tool-select_firmware_step-show-third-party"
+              attrs={{ label: true }}
+            >
+              <CheckBox
+                control={control}
+                name="thirdParty"
+                label="Show third party firmwares"
+              ></CheckBox>
+            </Localized>
+          </div>
+        </div>
+        <div className="my-4">
+          {!isFetching && (
+            <div className="flex flex-col gap-4">
+              <div className="xs-settings:max-h-96 xs-settings:overflow-y-auto xs-settings:px-2">
+                <div className="grid sm:grid-cols-2 mobile-settings:grid-cols-1 gap-2">
+                  {filteredFirmwares?.map((firmware) => (
+                    <div
+                      key={firmware.id}
+                      className={classNames(
+                        'p-3 rounded-md hover:bg-background-50',
+                        {
+                          'bg-background-50 text-background-10':
+                            newConfig?.version === firmware.name,
+                          'bg-background-60':
+                            newConfig?.version !== firmware.name,
+                        }
+                      )}
+                      onClick={() => {
+                        selectVersion(firmware.name);
+                      }}
+                    >
+                      {getName(firmware.name)}
+                    </div>
+                  ))}
+                </div>
+              </div>
+              <div className="flex justify-between">
+                <Localized id="firmware_tool-previous_step">
+                  <Button
+                    variant="tertiary"
+                    onClick={() => {
+                      if (defaultConfig?.shouldOnlyUseDefaults) {
+                        goTo('SelectBoard');
+                      } else {
+                        prevStep();
+                      }
+                    }}
+                  ></Button>
+                </Localized>
+                <Localized id="firmware_tool-next_step">
+                  <Button
+                    variant="primary"
+                    disabled={!newConfig?.version}
+                    onClick={nextStep}
+                  ></Button>
+                </Localized>
+              </div>
+            </div>
+          )}
+          {isFetching && (
+            <div className="flex justify-center flex-col items-center gap-3 h-44">
+              <LoaderIcon slimeState={SlimeState.JUMPY}></LoaderIcon>
+              <Localized id="firmware_tool-loading">
+                <Typography color="secondary"></Typography>
+              </Localized>
+            </div>
+          )}
+        </div>
+      </div>
+    </>
+  );
+}
--- a/gui/src/components/firmware-update/FirmwareUpdate.tsx
+++ b/gui/src/components/firmware-update/FirmwareUpdate.tsx
@@ -0,0 +1,402 @@
+import { Localized, ReactLocalization, useLocalization } from '@fluent/react';
+import { Typography } from '@/components/commons/Typography';
+import { getTrackerName } from '@/hooks/tracker';
+import { ComponentProps, useEffect, useMemo, useState } from 'react';
+import {
+  BoardType,
+  DeviceDataT,
+  DeviceIdTableT,
+  FirmwareUpdateMethod,
+  FirmwareUpdateStatus,
+  FirmwareUpdateStatusResponseT,
+  FirmwareUpdateStopQueuesRequestT,
+  HardwareInfoT,
+  RpcMessage,
+  TrackerStatus,
+} from 'solarxr-protocol';
+import semver from 'semver';
+import classNames from 'classnames';
+import { Button } from '@/components/commons/Button';
+import Markdown from 'react-markdown';
+import remark from 'remark-gfm';
+import { WarningBox } from '@/components/commons/TipBox';
+import { FirmwareRelease, useAppContext } from '@/hooks/app';
+import { DeviceCardControl } from '@/components/firmware-tool/DeviceCard';
+import { Control, useForm } from 'react-hook-form';
+import { useNavigate } from 'react-router-dom';
+import { useWebsocketAPI } from '@/hooks/websocket-api';
+import {
+  firmwareUpdateErrorStatus,
+  getFlashingRequests,
+  SelectedDevice,
+} from '@/hooks/firmware-tool';
+import { yupResolver } from '@hookform/resolvers/yup';
+import { object } from 'yup';
+import { LoaderIcon, SlimeState } from '@/components/commons/icon/LoaderIcon';
+import { A } from '@/components/commons/A';
+
+export function checkForUpdate(
+  currentFirmwareRelease: FirmwareRelease,
+  hardwareInfo: HardwareInfoT
+) {
+  return (
+    // TODO: This is temporary, end goal is to support all board types
+    hardwareInfo.officialBoardType === BoardType.SLIMEVR &&
+    semver.valid(currentFirmwareRelease.version) &&
+    semver.valid(hardwareInfo.firmwareVersion?.toString() ?? 'none') &&
+    semver.lt(
+      hardwareInfo.firmwareVersion?.toString() ?? 'none',
+      currentFirmwareRelease.version
+    )
+  );
+}
+
+interface FirmwareUpdateForm {
+  selectedDevices: { [key: string]: boolean };
+}
+
+interface UpdateStatus {
+  status: FirmwareUpdateStatus;
+  type: FirmwareUpdateMethod;
+  progress: number;
+  deviceNames: string[];
+}
+
+const deviceNames = ({ trackers }: DeviceDataT, l10n: ReactLocalization) =>
+  trackers
+    .map(({ info }) => getTrackerName(l10n, info))
+    .filter((i): i is string => !!i);
+
+const DeviceList = ({
+  control,
+  devices,
+}: {
+  control: Control<any>;
+  devices: DeviceDataT[];
+}) => {
+  const { l10n } = useLocalization();
+
+  return devices.map((device, index) => (
+    <DeviceCardControl
+      key={index}
+      control={control}
+      name={`selectedDevices.${device.id?.id ?? 0}`}
+      deviceNames={deviceNames(device, l10n)}
+    />
+  ));
+};
+
+const StatusList = ({ status }: { status: Record<string, UpdateStatus> }) => {
+  const statusKeys = Object.keys(status);
+
+  return statusKeys.map((id, index) => {
+    const val = status[id];
+
+    if (!val) throw new Error('there should always be a val');
+    const { state } = useAppContext();
+    const device = state.datafeed?.devices.find(
+      ({ id: dId }) => id === dId?.id.toString()
+    );
+
+    return (
+      <DeviceCardControl
+        status={val.status}
+        progress={val.progress}
+        key={index}
+        deviceNames={val.deviceNames}
+        online={device?.trackers.some(
+          ({ status }) => status === TrackerStatus.OK
+        )}
+      ></DeviceCardControl>
+    );
+  });
+};
+
+const MarkdownLink = (props: ComponentProps<'a'>) => (
+  <A href={props.href}>{props.children}</A>
+);
+
+export function FirmwareUpdate() {
+  const navigate = useNavigate();
+  const { l10n } = useLocalization();
+  const { sendRPCPacket, useRPCPacket } = useWebsocketAPI();
+  const [selectedDevices, setSelectedDevices] = useState<SelectedDevice[]>([]);
+  const { state, currentFirmwareRelease } = useAppContext();
+  const [status, setStatus] = useState<Record<string, UpdateStatus>>({});
+
+  const devices =
+    state.datafeed?.devices.filter(
+      ({ trackers, hardwareInfo }) =>
+        trackers.length > 0 &&
+        currentFirmwareRelease &&
+        hardwareInfo &&
+        checkForUpdate(currentFirmwareRelease, hardwareInfo) &&
+        trackers.every(({ status }) => status === TrackerStatus.OK)
+    ) || [];
+
+  useRPCPacket(
+    RpcMessage.FirmwareUpdateStatusResponse,
+    (data: FirmwareUpdateStatusResponseT) => {
+      if (!data.deviceId) throw new Error('no device id');
+      const id =
+        data.deviceId instanceof DeviceIdTableT
+          ? data.deviceId.id?.id
+          : data.deviceId.port;
+      if (!id) throw new Error('invalid device id');
+
+      const selectedDevice = selectedDevices?.find(
+        ({ deviceId }) => deviceId === id.toString()
+      );
+
+      // We skip the status as it can be old trackers still sending status
+      if (!selectedDevice) return;
+
+      setStatus((last) => ({
+        ...last,
+        [id.toString()]: {
+          progress: data.progress / 100,
+          status: data.status,
+          type: selectedDevice.type,
+          deviceNames: selectedDevice.deviceNames,
+        },
+      }));
+    }
+  );
+
+  const {
+    control,
+    watch,
+    reset,
+    formState: { isValid },
+  } = useForm<FirmwareUpdateForm>({
+    reValidateMode: 'onChange',
+    mode: 'onChange',
+    defaultValues: {
+      selectedDevices: devices.reduce(
+        (curr, { id }) => ({ ...curr, [id?.id ?? 0]: false }),
+        {}
+      ),
+    },
+    resolver: yupResolver(
+      object({
+        selectedDevices: object().test(
+          'at-least-one-true',
+          'At least one field must be true',
+          (value) => {
+            if (typeof value !== 'object' || value === null) return false;
+            return Object.values(value).some((val) => val === true);
+          }
+        ),
+      })
+    ),
+  });
+
+  const selectedDevicesForm = watch('selectedDevices');
+
+  const clear = () => {
+    setStatus({});
+    sendRPCPacket(
+      RpcMessage.FirmwareUpdateStopQueuesRequest,
+      new FirmwareUpdateStopQueuesRequestT()
+    );
+  };
+
+  useEffect(() => {
+    if (!currentFirmwareRelease) {
+      navigate('/');
+      return;
+    }
+    return () => {
+      clear();
+    };
+  }, []);
+
+  const queueFlashing = (selectedDevices: SelectedDevice[]) => {
+    clear();
+    const firmwareFile = currentFirmwareRelease?.firmwareFile;
+    if (!firmwareFile) throw new Error('invalid state - no firmware file');
+    const requests = getFlashingRequests(
+      selectedDevices,
+      [{ isFirmware: true, firmwareId: '', url: firmwareFile, offset: 0 }],
+      { wifi: undefined, alonePage: false, progress: 0 }, // we do not use serial
+      null // we do not use serial
+    );
+
+    requests.forEach((req) => {
+      sendRPCPacket(RpcMessage.FirmwareUpdateRequest, req);
+    });
+  };
+
+  const trackerWithErrors = useMemo(
+    () =>
+      Object.keys(status).filter((id) =>
+        firmwareUpdateErrorStatus.includes(status[id].status)
+      ),
+    [status]
+  );
+
+  const hasPendingTrackers = useMemo(
+    () =>
+      Object.keys(status).filter((id) =>
+        [
+          FirmwareUpdateStatus.NEED_MANUAL_REBOOT,
+          FirmwareUpdateStatus.DOWNLOADING,
+          FirmwareUpdateStatus.AUTHENTICATING,
+          FirmwareUpdateStatus.REBOOTING,
+          FirmwareUpdateStatus.SYNCING_WITH_MCU,
+          FirmwareUpdateStatus.UPLOADING,
+          FirmwareUpdateStatus.PROVISIONING,
+        ].includes(status[id].status)
+      ).length > 0,
+    [status]
+  );
+
+  const shouldShowRebootWarning = useMemo(
+    () =>
+      Object.keys(status).find((id) =>
+        [
+          FirmwareUpdateStatus.REBOOTING,
+          FirmwareUpdateStatus.UPLOADING,
+        ].includes(status[id].status)
+      ),
+    [status]
+  );
+
+  const retryError = () => {
+    const devices = trackerWithErrors.map((id) => {
+      const device = status[id];
+      return {
+        type: device.type,
+        deviceId: id,
+        deviceNames: device.deviceNames,
+      };
+    });
+
+    reset({
+      selectedDevices: devices.reduce(
+        (curr, { deviceId }) => ({ ...curr, [deviceId]: true }),
+        {}
+      ),
+    });
+    queueFlashing(devices);
+  };
+
+  const startUpdate = () => {
+    const selectedDevices = Object.keys(selectedDevicesForm)
+      .filter((d) => selectedDevicesForm[d])
+      .map((id) => {
+        const device = devices.find(({ id: dId }) => id === dId?.id.toString());
+
+        if (!device) throw new Error('no device found');
+        return {
+          type: FirmwareUpdateMethod.OTAFirmwareUpdate,
+          deviceId: id,
+          deviceNames: deviceNames(device, l10n),
+        };
+      });
+    if (!selectedDevices)
+      throw new Error('invalid state - no selected devices');
+    setSelectedDevices(selectedDevices);
+    queueFlashing(selectedDevices);
+  };
+
+  const canStartUpdate =
+    isValid &&
+    devices.length !== 0 &&
+    !hasPendingTrackers &&
+    trackerWithErrors.length === 0;
+  const canRetry =
+    isValid && devices.length !== 0 && trackerWithErrors.length !== 0;
+
+  const statusKeys = Object.keys(status);
+
+  return (
+    <div className="flex flex-col p-4 w-full items-center justify-center">
+      <div className="mobile:w-full w-10/12 h-full flex flex-col gap-2">
+        <Localized id="firmware_update-title">
+          <Typography variant="main-title"></Typography>
+        </Localized>
+        <div className="grid md:grid-cols-2 xs:grid-cols-1 gap-5">
+          <div className="flex flex-col gap-2">
+            <Localized id="firmware_update-devices">
+              <Typography variant="section-title"></Typography>
+            </Localized>
+            <Localized id="firmware_update-devices-description">
+              <Typography variant="standard" color="secondary"></Typography>
+            </Localized>
+            <div className="flex flex-col gap-4 overflow-y-auto xs:max-h-[530px]">
+              {devices.length === 0 &&
+                !hasPendingTrackers &&
+                statusKeys.length == 0 && (
+                  <Localized id="firmware_update-no_devices">
+                    <WarningBox>Warning</WarningBox>
+                  </Localized>
+                )}
+              {shouldShowRebootWarning && (
+                <Localized id="firmware_tool-flashing_step-warning">
+                  <WarningBox>Warning</WarningBox>
+                </Localized>
+              )}
+              <div className="flex flex-col gap-4 h-full">
+                {statusKeys.length > 0 ? (
+                  <StatusList status={status}></StatusList>
+                ) : (
+                  <DeviceList control={control} devices={devices}></DeviceList>
+                )}
+                {devices.length === 0 && statusKeys.length === 0 && (
+                  <div
+                    className={classNames(
+                      'rounded-xl bg-background-60 justify-center flex-col items-center flex pb-10 py-5 gap-5'
+                    )}
+                  >
+                    <LoaderIcon slimeState={SlimeState.JUMPY}></LoaderIcon>
+                    <Localized id="firmware_update-looking_for_devices">
+                      <Typography></Typography>
+                    </Localized>
+                  </div>
+                )}
+              </div>
+            </div>
+          </div>
+          <div className="h-fit w-full flex flex-col gap-2">
+            <Localized
+              id="firmware_update-changelog-title"
+              vars={{ version: currentFirmwareRelease?.name ?? 'unknown' }}
+            >
+              <Typography variant="main-title"></Typography>
+            </Localized>
+            <div className="overflow-y-scroll max-h-[430px] md:h-[430px] bg-background-60 rounded-lg p-4">
+              <Markdown
+                remarkPlugins={[remark]}
+                components={{ a: MarkdownLink }}
+                className={classNames(
+                  'w-full text-sm prose-xl prose text-background-10 prose-h1:text-background-10',
+                  'prose-h2:text-background-10 prose-a:text-background-20 prose-strong:text-background-10',
+                  'prose-code:text-background-20'
+                )}
+              >
+                {currentFirmwareRelease?.changelog}
+              </Markdown>
+            </div>
+          </div>
+        </div>
+        <div className="flex justify-end pb-2 gap-2 mobile:flex-col">
+          <Localized id="firmware_update-retry">
+            <Button
+              variant="secondary"
+              disabled={!canRetry}
+              onClick={retryError}
+            ></Button>
+          </Localized>
+          <Localized id="firmware_update-update">
+            <Button
+              variant="primary"
+              disabled={!canStartUpdate}
+              onClick={startUpdate}
+            ></Button>
+          </Localized>
+        </div>
+      </div>
+    </div>
+  );
+}
--- a/gui/src/components/home/Home.tsx
+++ b/gui/src/components/home/Home.tsx
@@ -51,7 +51,7 @@ export function Home() {
      <div className="h-full overflow-y-auto">
        <div
          className={classNames(
-            'px-2 pt-2 gap-3 w-full grid md:grid-cols-2 mobile:grid-cols-1',
+            'px-3 pt-3 gap-3 w-full grid md:grid-cols-2 mobile:grid-cols-1',
            filteredStatuses.filter(([, status]) => status.prioritized)
              .length === 0 && 'hidden'
          )}
@@ -70,7 +70,7 @@ export function Home() {
              </Localized>
            ))}
        </div>
-        <div className="overflow-y-auto flex flex-col gap-2">
+        <div className="overflow-y-auto flex flex-col gap-3">
          {trackers.length === 0 && (
            <div className="flex px-5 pt-5 justify-center">
              <Typography variant="standard">
@@ -80,7 +80,7 @@ export function Home() {
          )}

          {!config?.debug && trackers.length > 0 && (
-            <div className="grid sm:grid-cols-1 md:grid-cols-2 gap-3 px-2 my-2">
+            <div className="grid sm:grid-cols-1 md:grid-cols-2 gap-4 px-5 my-5">
              {trackers.map(({ tracker, device }, index) => (
                <TrackerCard
                  key={index}
@@ -88,6 +88,7 @@ export function Home() {
                  device={device}
                  onClick={() => sendToSettings(tracker)}
                  smol
+                  showUpdates
                  interactable
                  warning={Object.values(statuses).some((status) =>
                    trackerStatusRelated(tracker, status)
--- a/gui/src/components/onboarding/pages/ConnectTracker.tsx
+++ b/gui/src/components/onboarding/pages/ConnectTracker.tsx
@@ -3,11 +3,9 @@ import classNames from 'classnames';
 import { useEffect, useMemo, useState } from 'react';
 import { useNavigate } from 'react-router-dom';
 import {
-  AddUnknownDeviceRequestT,
  RpcMessage,
  StartWifiProvisioningRequestT,
  StopWifiProvisioningRequestT,
-  UnknownDeviceHandshakeNotificationT,
  WifiProvisioningStatus,
  WifiProvisioningStatusResponseT,
 } from 'solarxr-protocol';
@@ -97,15 +95,6 @@ export function ConnectTrackersPage() {
    }
  );

-  useRPCPacket(
-    RpcMessage.UnknownDeviceHandshakeNotification,
-    ({ macAddress }: UnknownDeviceHandshakeNotificationT) =>
-      sendRPCPacket(
-        RpcMessage.AddUnknownDeviceRequest,
-        new AddUnknownDeviceRequestT(macAddress)
-      )
-  );
-
  const isError =
    provisioningStatus === WifiProvisioningStatus.CONNECTION_ERROR ||
    provisioningStatus === WifiProvisioningStatus.COULD_NOT_FIND_SERVER;
--- a/gui/src/components/onboarding/pages/Home.tsx
+++ b/gui/src/components/onboarding/pages/Home.tsx
@@ -13,7 +13,7 @@ export function HomePage() {

  return (
    <>
-      <div className="flex flex-col gap-5 h-full items-center w-full justify-center px-4">
+      <div className="flex relative flex-col gap-5 h-full items-center w-full justify-center px-4 overflow-clip">
        <div className="flex flex-col gap-5 items-center z-10 scale-150 mb-20">
          <SlimeVRIcon></SlimeVRIcon>
          <Typography variant="mobile-title">
--- a/gui/src/components/settings/SettingsLayout.tsx
+++ b/gui/src/components/settings/SettingsLayout.tsx
@@ -40,6 +40,10 @@ export function SettingSelectorMobile() {
        label: l10n.getString('settings-sidebar-serial'),
        value: { url: '/settings/serial' },
      },
+      {
+        label: l10n.getString('settings-sidebar-firmware-tool'),
+        value: { url: '/settings/firmware-tool' },
+      },
      {
        label: l10n.getString('settings-sidebar-advanced'),
        value: { url: '/settings/advanced' },
@@ -99,7 +103,7 @@ export function SettingsLayout({ children }: { children: ReactNode }) {
        <div style={{ gridArea: 'n' }}>
          <Navbar></Navbar>
        </div>
-        <div style={{ gridArea: 's' }} className="my-2">
+        <div style={{ gridArea: 's' }} className="my-2 mobile:hidden">
          <SettingsSidebar></SettingsSidebar>
        </div>
        <div
--- a/gui/src/components/settings/SettingsSidebar.tsx
+++ b/gui/src/components/settings/SettingsSidebar.tsx
@@ -100,6 +100,9 @@ export function SettingsSidebar() {
            <SettingsLink to="/settings/serial">
              {l10n.getString('settings-sidebar-serial')}
            </SettingsLink>
+            <SettingsLink to="/settings/firmware-tool">
+              {l10n.getString('settings-sidebar-firmware-tool')}
+            </SettingsLink>
          </div>
          <div className="flex flex-col gap-2">
            <SettingsLink to="/settings/advanced">
--- a/gui/src/components/tracker/TrackerCard.tsx
+++ b/gui/src/components/tracker/TrackerCard.tsx
@@ -11,6 +11,10 @@ import { TrackerStatus } from './TrackerStatus';
 import classNames from 'classnames';
 import { useTracker } from '@/hooks/tracker';
 import { BodyPartIcon } from '@/components/commons/BodyPartIcon';
+import { DownloadIcon } from '@/components/commons/icon/DownloadIcon';
+import { Link } from 'react-router-dom';
+import { useAppContext } from '@/hooks/app';
+import { checkForUpdate } from '@/components/firmware-update/FirmwareUpdate';

 function TrackerBig({
  device,
@@ -122,6 +126,7 @@ export function TrackerCard({
  bg = 'bg-background-60',
  shakeHighlight = true,
  warning = false,
+  showUpdates = false,
 }: {
  tracker: TrackerDataT;
  device?: DeviceDataT;
@@ -132,33 +137,51 @@ export function TrackerCard({
  shakeHighlight?: boolean;
  onClick?: MouseEventHandler<HTMLDivElement>;
  warning?: boolean;
+  showUpdates?: boolean;
 }) {
+  const { currentFirmwareRelease } = useAppContext();
  const { useVelocity } = useTracker(tracker);

  const velocity = useVelocity();

  return (
-    <div
-      onClick={onClick}
-      className={classNames(
-        'rounded-lg overflow-hidden',
-        interactable && 'hover:bg-background-50 cursor-pointer',
-        outlined && 'outline outline-2 outline-accent-background-40',
-        warning && 'border-status-warning border-solid border-2',
-        bg
-      )}
-      style={
-        shakeHighlight
-          ? {
-              boxShadow: `0px 0px ${Math.floor(velocity * 8)}px ${Math.floor(
-                velocity * 8
-              )}px rgb(var(--accent-background-30))`,
-            }
-          : {}
-      }
-    >
-      {smol && <TrackerSmol tracker={tracker} device={device}></TrackerSmol>}
-      {!smol && <TrackerBig tracker={tracker} device={device}></TrackerBig>}
+    <div className="relative">
+      <div
+        onClick={onClick}
+        className={classNames(
+          'rounded-lg overflow-hidden',
+          interactable && 'hover:bg-background-50 cursor-pointer',
+          outlined && 'outline outline-2 outline-accent-background-40',
+          warning && 'border-status-warning border-solid border-2',
+          bg
+        )}
+        style={
+          shakeHighlight
+            ? {
+                boxShadow: `0px 0px ${Math.floor(velocity * 8)}px ${Math.floor(
+                  velocity * 8
+                )}px rgb(var(--accent-background-30))`,
+              }
+            : {}
+        }
+      >
+        {smol && <TrackerSmol tracker={tracker} device={device}></TrackerSmol>}
+        {!smol && <TrackerBig tracker={tracker} device={device}></TrackerBig>}
+      </div>
+      {showUpdates &&
+        tracker.status !== TrackerStatusEnum.DISCONNECTED &&
+        currentFirmwareRelease &&
+        device?.hardwareInfo &&
+        checkForUpdate(currentFirmwareRelease, device.hardwareInfo) && (
+          <Link to="/firmware-update" className="absolute right-5 -top-2.5">
+            <div className="relative">
+              <div className="absolute rounded-full h-6 w-6 left-1 top-1 bg-accent-background-10 animate-[ping_2s_linear_infinite]"></div>
+              <div className="absolute rounded-full h-8 w-8 hover:bg-background-40 hover:cursor-pointer bg-background-50 justify-center flex items-center">
+                <DownloadIcon width={15}></DownloadIcon>
+              </div>
+            </div>
+          </Link>
+        )}
    </div>
  );
 }
--- a/gui/src/components/tracker/TrackerSettings.tsx
+++ b/gui/src/components/tracker/TrackerSettings.tsx
@@ -1,4 +1,4 @@
-import { useLocalization } from '@fluent/react';
+import { Localized, useLocalization } from '@fluent/react';
 import classNames from 'classnames';
 import { IPv4 } from 'ip-num/IPNumber';
 import { useEffect, useMemo, useState } from 'react';
@@ -6,6 +6,7 @@ import { useForm } from 'react-hook-form';
 import { useParams } from 'react-router-dom';
 import {
  AssignTrackerRequestT,
+  BoardType,
  BodyPart,
  ForgetDeviceRequestT,
  ImuType,
@@ -36,6 +37,8 @@ import { TrackerCard } from './TrackerCard';
 import { Quaternion } from 'three';
 import { useAppContext } from '@/hooks/app';
 import { MagnetometerToggleSetting } from '@/components/settings/pages/MagnetometerToggleSetting';
+import semver from 'semver';
+import { checkForUpdate } from '@/components/firmware-update/FirmwareUpdate';

 const rotationsLabels: [Quaternion, string][] = [
  [rotationToQuatMap.BACK, 'tracker-rotation-back'],
@@ -149,6 +152,26 @@ export function TrackerSettingsPage() {
    }
  }, [firstLoad]);

+  const boardType = useMemo(() => {
+    if (tracker?.device?.hardwareInfo?.officialBoardType) {
+      return l10n.getString(
+        'board_type-' +
+          BoardType[
+            tracker?.device?.hardwareInfo?.officialBoardType ??
+              BoardType.UNKNOWN
+          ]
+      );
+    } else if (tracker?.device?.hardwareInfo?.boardType) {
+      return tracker?.device?.hardwareInfo?.boardType;
+    } else {
+      return '--';
+    }
+  }, [
+    tracker?.device?.hardwareInfo?.officialBoardType,
+    tracker?.device?.hardwareInfo?.boardType,
+    l10n,
+  ]);
+
  const macAddress = useMemo(() => {
    if (
      /(?:[a-zA-Z\d]{2}:){5}[a-zA-Z\d]{2}/.test(
@@ -161,6 +184,18 @@ export function TrackerSettingsPage() {
    return null;
  }, [tracker?.device?.hardwareInfo?.hardwareIdentifier]);

+  const { currentFirmwareRelease } = useAppContext();
+
+  const needUpdate =
+    currentFirmwareRelease &&
+    tracker?.device?.hardwareInfo &&
+    checkForUpdate(currentFirmwareRelease, tracker?.device?.hardwareInfo);
+  const updateUnavailable =
+    tracker?.device?.hardwareInfo?.officialBoardType !== BoardType.SLIMEVR ||
+    !semver.valid(
+      tracker?.device?.hardwareInfo?.firmwareVersion?.toString() ?? 'none'
+    );
+
  return (
    <form
      className="h-full overflow-y-auto"
@@ -188,21 +223,55 @@ export function TrackerSettingsPage() {
              shakeHighlight={false}
            ></TrackerCard>
          )}
-          {/* <div className="flex flex-col bg-background-70 p-3 rounded-lg gap-2">
-            <Typography bold>Firmware version</Typography>
-            <div className="flex gap-2">
-              <Typography color="secondary">
-                {tracker?.device?.hardwareInfo?.firmwareVersion}
-              </Typography>
-              <Typography color="secondary">-</Typography>
-              <Typography color="text-accent-background-10">
-                Up to date
-              </Typography>
+          {
+            <div className="flex flex-col bg-background-70 p-3 rounded-lg gap-2">
+              <Localized id="tracker-settings-update-title">
+                <Typography variant="section-title">
+                  Firmware version
+                </Typography>
+              </Localized>
+              <div className="flex gap-2">
+                <Typography color="secondary">
+                  v{tracker?.device?.hardwareInfo?.firmwareVersion}
+                </Typography>
+                <Typography color="secondary">-</Typography>
+                {updateUnavailable && (
+                  <Localized id="tracker-settings-update-unavailable">
+                    <Typography>Cannot be updated (DIY)</Typography>
+                  </Localized>
+                )}
+                {!updateUnavailable && (
+                  <>
+                    {!needUpdate && (
+                      <Localized id="tracker-settings-update-up_to_date">
+                        <Typography>Up to date</Typography>
+                      </Localized>
+                    )}
+                    {needUpdate && (
+                      <Localized
+                        id="tracker-settings-update-available"
+                        vars={{ versionName: currentFirmwareRelease?.name }}
+                      >
+                        <Typography color="text-accent-background-10">
+                          New version available
+                        </Typography>
+                      </Localized>
+                    )}
+                  </>
+                )}
+              </div>
+              <Localized id="tracker-settings-update">
+                <Button
+                  variant={needUpdate ? 'primary' : 'secondary'}
+                  disabled={!needUpdate}
+                  to="/firmware-update"
+                >
+                  Update now
+                </Button>
+              </Localized>
            </div>
-            <Button variant="primary" disabled>
-              Update now
-            </Button>
-          </div> */}
+          }
+
          <div className="flex flex-col bg-background-70 p-3 rounded-lg gap-2 overflow-x-auto">
            <div className="flex justify-between">
              <Typography color="secondary">
@@ -237,22 +306,6 @@ export function TrackerSettingsPage() {
                ).toString()}
              </Typography>
            </div>
-            <div className="flex justify-between">
-              <Typography color="secondary">
-                {l10n.getString('tracker-infos-version')}
-              </Typography>
-              <Typography>
-                {tracker?.device?.hardwareInfo?.firmwareVersion || '--'}
-              </Typography>
-            </div>
-            {/* <div className="flex justify-between">
-              <Typography color="secondary">
-                {l10n.getString('tracker-infos-hardware_rev')}
-              </Typography>
-              <Typography>
-                {tracker?.device?.hardwareInfo?.hardwareRevision || '--'}
-              </Typography>
-            </div> */}
            <div className="flex justify-between">
              <Typography color="secondary">
                {l10n.getString('tracker-infos-hardware_identifier')}
@@ -285,9 +338,7 @@ export function TrackerSettingsPage() {
              <Typography color="secondary">
                {l10n.getString('tracker-infos-board_type')}
              </Typography>
-              <Typography>
-                {tracker?.device?.hardwareInfo?.boardType || '--'}
-              </Typography>
+              <Typography>{boardType}</Typography>
            </div>
            <div className="flex justify-between">
              <Typography color="secondary">
--- a/gui/src/firmware-tool-api/firmwareToolComponents.ts
+++ b/gui/src/firmware-tool-api/firmwareToolComponents.ts
@@ -0,0 +1,659 @@
+/**
+ * Generated by @openapi-codegen
+ *
+ * @version 0.0.1
+ */
+import * as reactQuery from '@tanstack/react-query';
+import { useFirmwareToolContext, FirmwareToolContext } from './firmwareToolContext';
+import type * as Fetcher from './firmwareToolFetcher';
+import { firmwareToolFetch } from './firmwareToolFetcher';
+import type * as Schemas from './firmwareToolSchemas';
+
+export type GetIsCompatibleVersionPathParams = {
+  version: string;
+};
+
+export type GetIsCompatibleVersionError = Fetcher.ErrorWrapper<undefined>;
+
+export type GetIsCompatibleVersionVariables = {
+  pathParams: GetIsCompatibleVersionPathParams;
+} & FirmwareToolContext['fetcherOptions'];
+
+/**
+ * Is this api compatible with the server version given
+ */
+export const fetchGetIsCompatibleVersion = (
+  variables: GetIsCompatibleVersionVariables,
+  signal?: AbortSignal
+) =>
+  firmwareToolFetch<
+    Schemas.VerionCheckResponse,
+    GetIsCompatibleVersionError,
+    undefined,
+    {},
+    {},
+    GetIsCompatibleVersionPathParams
+  >({ url: '/is-compatible/{version}', method: 'get', ...variables, signal });
+
+/**
+ * Is this api compatible with the server version given
+ */
+export const useGetIsCompatibleVersion = <TData = Schemas.VerionCheckResponse>(
+  variables: GetIsCompatibleVersionVariables,
+  options?: Omit<
+    reactQuery.UseQueryOptions<
+      Schemas.VerionCheckResponse,
+      GetIsCompatibleVersionError,
+      TData
+    >,
+    'queryKey' | 'queryFn' | 'initialData'
+  >
+) => {
+  const { fetcherOptions, queryOptions, queryKeyFn } = useFirmwareToolContext(options);
+  return reactQuery.useQuery<
+    Schemas.VerionCheckResponse,
+    GetIsCompatibleVersionError,
+    TData
+  >({
+    queryKey: queryKeyFn({
+      path: '/is-compatible/{version}',
+      operationId: 'getIsCompatibleVersion',
+      variables,
+    }),
+    queryFn: ({ signal }) =>
+      fetchGetIsCompatibleVersion({ ...fetcherOptions, ...variables }, signal),
+    ...options,
+    ...queryOptions,
+  });
+};
+
+export type GetFirmwaresError = Fetcher.ErrorWrapper<undefined>;
+
+export type GetFirmwaresResponse = Schemas.FirmwareDTO[];
+
+export type GetFirmwaresVariables = FirmwareToolContext['fetcherOptions'];
+
+/**
+ * List all the built firmwares
+ */
+export const fetchGetFirmwares = (
+  variables: GetFirmwaresVariables,
+  signal?: AbortSignal
+) =>
+  firmwareToolFetch<GetFirmwaresResponse, GetFirmwaresError, undefined, {}, {}, {}>({
+    url: '/firmwares',
+    method: 'get',
+    ...variables,
+    signal,
+  });
+
+/**
+ * List all the built firmwares
+ */
+export const useGetFirmwares = <TData = GetFirmwaresResponse>(
+  variables: GetFirmwaresVariables,
+  options?: Omit<
+    reactQuery.UseQueryOptions<GetFirmwaresResponse, GetFirmwaresError, TData>,
+    'queryKey' | 'queryFn' | 'initialData'
+  >
+) => {
+  const { fetcherOptions, queryOptions, queryKeyFn } = useFirmwareToolContext(options);
+  return reactQuery.useQuery<GetFirmwaresResponse, GetFirmwaresError, TData>({
+    queryKey: queryKeyFn({
+      path: '/firmwares',
+      operationId: 'getFirmwares',
+      variables,
+    }),
+    queryFn: ({ signal }) =>
+      fetchGetFirmwares({ ...fetcherOptions, ...variables }, signal),
+    ...options,
+    ...queryOptions,
+  });
+};
+
+export type PostFirmwaresBuildError = Fetcher.ErrorWrapper<{
+  status: 400;
+  payload: Schemas.VersionNotFoundExeption;
+}>;
+
+export type PostFirmwaresBuildVariables = {
+  body: Schemas.CreateBuildFirmwareDTO;
+} & FirmwareToolContext['fetcherOptions'];
+
+/**
+ * Build a firmware from the requested configuration
+ */
+export const fetchPostFirmwaresBuild = (
+  variables: PostFirmwaresBuildVariables,
+  signal?: AbortSignal
+) =>
+  firmwareToolFetch<
+    Schemas.BuildResponseDTO,
+    PostFirmwaresBuildError,
+    Schemas.CreateBuildFirmwareDTO,
+    {},
+    {},
+    {}
+  >({ url: '/firmwares/build', method: 'post', ...variables, signal });
+
+/**
+ * Build a firmware from the requested configuration
+ */
+export const usePostFirmwaresBuild = (
+  options?: Omit<
+    reactQuery.UseMutationOptions<
+      Schemas.BuildResponseDTO,
+      PostFirmwaresBuildError,
+      PostFirmwaresBuildVariables
+    >,
+    'mutationFn'
+  >
+) => {
+  const { fetcherOptions } = useFirmwareToolContext();
+  return reactQuery.useMutation<
+    Schemas.BuildResponseDTO,
+    PostFirmwaresBuildError,
+    PostFirmwaresBuildVariables
+  >({
+    mutationFn: (variables: PostFirmwaresBuildVariables) =>
+      fetchPostFirmwaresBuild({ ...fetcherOptions, ...variables }),
+    ...options,
+  });
+};
+
+export type GetFirmwaresBuildStatusIdPathParams = {
+  id: string;
+};
+
+export type GetFirmwaresBuildStatusIdError = Fetcher.ErrorWrapper<undefined>;
+
+export type GetFirmwaresBuildStatusIdVariables = {
+  pathParams: GetFirmwaresBuildStatusIdPathParams;
+} & FirmwareToolContext['fetcherOptions'];
+
+/**
+ * Get the build status of a firmware
+ * This is a SSE (Server Sent Event)
+ * you can use the web browser api to check for the build status and update the ui in real time
+ */
+export const fetchGetFirmwaresBuildStatusId = (
+  variables: GetFirmwaresBuildStatusIdVariables,
+  signal?: AbortSignal
+) =>
+  firmwareToolFetch<
+    Schemas.ObservableType,
+    GetFirmwaresBuildStatusIdError,
+    undefined,
+    {},
+    {},
+    GetFirmwaresBuildStatusIdPathParams
+  >({
+    url: '/firmwares/build-status/{id}',
+    method: 'get',
+    ...variables,
+    signal,
+  });
+
+/**
+ * Get the build status of a firmware
+ * This is a SSE (Server Sent Event)
+ * you can use the web browser api to check for the build status and update the ui in real time
+ */
+export const useGetFirmwaresBuildStatusId = <TData = Schemas.ObservableType>(
+  variables: GetFirmwaresBuildStatusIdVariables,
+  options?: Omit<
+    reactQuery.UseQueryOptions<
+      Schemas.ObservableType,
+      GetFirmwaresBuildStatusIdError,
+      TData
+    >,
+    'queryKey' | 'queryFn' | 'initialData'
+  >
+) => {
+  const { fetcherOptions, queryOptions, queryKeyFn } = useFirmwareToolContext(options);
+  return reactQuery.useQuery<
+    Schemas.ObservableType,
+    GetFirmwaresBuildStatusIdError,
+    TData
+  >({
+    queryKey: queryKeyFn({
+      path: '/firmwares/build-status/{id}',
+      operationId: 'getFirmwaresBuildStatusId',
+      variables,
+    }),
+    queryFn: ({ signal }) =>
+      fetchGetFirmwaresBuildStatusId({ ...fetcherOptions, ...variables }, signal),
+    ...options,
+    ...queryOptions,
+  });
+};
+
+export type GetFirmwaresBoardsError = Fetcher.ErrorWrapper<undefined>;
+
+export type GetFirmwaresBoardsResponse = string[];
+
+export type GetFirmwaresBoardsVariables = FirmwareToolContext['fetcherOptions'];
+
+/**
+ * List all the possible board types
+ */
+export const fetchGetFirmwaresBoards = (
+  variables: GetFirmwaresBoardsVariables,
+  signal?: AbortSignal
+) =>
+  firmwareToolFetch<
+    GetFirmwaresBoardsResponse,
+    GetFirmwaresBoardsError,
+    undefined,
+    {},
+    {},
+    {}
+  >({ url: '/firmwares/boards', method: 'get', ...variables, signal });
+
+/**
+ * List all the possible board types
+ */
+export const useGetFirmwaresBoards = <TData = GetFirmwaresBoardsResponse>(
+  variables: GetFirmwaresBoardsVariables,
+  options?: Omit<
+    reactQuery.UseQueryOptions<
+      GetFirmwaresBoardsResponse,
+      GetFirmwaresBoardsError,
+      TData
+    >,
+    'queryKey' | 'queryFn' | 'initialData'
+  >
+) => {
+  const { fetcherOptions, queryOptions, queryKeyFn } = useFirmwareToolContext(options);
+  return reactQuery.useQuery<
+    GetFirmwaresBoardsResponse,
+    GetFirmwaresBoardsError,
+    TData
+  >({
+    queryKey: queryKeyFn({
+      path: '/firmwares/boards',
+      operationId: 'getFirmwaresBoards',
+      variables,
+    }),
+    queryFn: ({ signal }) =>
+      fetchGetFirmwaresBoards({ ...fetcherOptions, ...variables }, signal),
+    ...options,
+    ...queryOptions,
+  });
+};
+
+export type GetFirmwaresVersionsError = Fetcher.ErrorWrapper<undefined>;
+
+export type GetFirmwaresVersionsResponse = Schemas.ReleaseDTO[];
+
+export type GetFirmwaresVersionsVariables = FirmwareToolContext['fetcherOptions'];
+
+/**
+ * List all the possible versions to build a firmware from
+ */
+export const fetchGetFirmwaresVersions = (
+  variables: GetFirmwaresVersionsVariables,
+  signal?: AbortSignal
+) =>
+  firmwareToolFetch<
+    GetFirmwaresVersionsResponse,
+    GetFirmwaresVersionsError,
+    undefined,
+    {},
+    {},
+    {}
+  >({ url: '/firmwares/versions', method: 'get', ...variables, signal });
+
+/**
+ * List all the possible versions to build a firmware from
+ */
+export const useGetFirmwaresVersions = <TData = GetFirmwaresVersionsResponse>(
+  variables: GetFirmwaresVersionsVariables,
+  options?: Omit<
+    reactQuery.UseQueryOptions<
+      GetFirmwaresVersionsResponse,
+      GetFirmwaresVersionsError,
+      TData
+    >,
+    'queryKey' | 'queryFn' | 'initialData'
+  >
+) => {
+  const { fetcherOptions, queryOptions, queryKeyFn } = useFirmwareToolContext(options);
+  return reactQuery.useQuery<
+    GetFirmwaresVersionsResponse,
+    GetFirmwaresVersionsError,
+    TData
+  >({
+    queryKey: queryKeyFn({
+      path: '/firmwares/versions',
+      operationId: 'getFirmwaresVersions',
+      variables,
+    }),
+    queryFn: ({ signal }) =>
+      fetchGetFirmwaresVersions({ ...fetcherOptions, ...variables }, signal),
+    ...options,
+    ...queryOptions,
+  });
+};
+
+export type GetFirmwaresImusError = Fetcher.ErrorWrapper<undefined>;
+
+export type GetFirmwaresImusResponse = Schemas.Imudto[];
+
+export type GetFirmwaresImusVariables = FirmwareToolContext['fetcherOptions'];
+
+/**
+ * List all the possible imus to use
+ */
+export const fetchGetFirmwaresImus = (
+  variables: GetFirmwaresImusVariables,
+  signal?: AbortSignal
+) =>
+  firmwareToolFetch<
+    GetFirmwaresImusResponse,
+    GetFirmwaresImusError,
+    undefined,
+    {},
+    {},
+    {}
+  >({ url: '/firmwares/imus', method: 'get', ...variables, signal });
+
+/**
+ * List all the possible imus to use
+ */
+export const useGetFirmwaresImus = <TData = GetFirmwaresImusResponse>(
+  variables: GetFirmwaresImusVariables,
+  options?: Omit<
+    reactQuery.UseQueryOptions<GetFirmwaresImusResponse, GetFirmwaresImusError, TData>,
+    'queryKey' | 'queryFn' | 'initialData'
+  >
+) => {
+  const { fetcherOptions, queryOptions, queryKeyFn } = useFirmwareToolContext(options);
+  return reactQuery.useQuery<GetFirmwaresImusResponse, GetFirmwaresImusError, TData>({
+    queryKey: queryKeyFn({
+      path: '/firmwares/imus',
+      operationId: 'getFirmwaresImus',
+      variables,
+    }),
+    queryFn: ({ signal }) =>
+      fetchGetFirmwaresImus({ ...fetcherOptions, ...variables }, signal),
+    ...options,
+    ...queryOptions,
+  });
+};
+
+export type GetFirmwaresBatteriesError = Fetcher.ErrorWrapper<undefined>;
+
+export type GetFirmwaresBatteriesResponse = string[];
+
+export type GetFirmwaresBatteriesVariables = FirmwareToolContext['fetcherOptions'];
+
+/**
+ * List all the battery types
+ */
+export const fetchGetFirmwaresBatteries = (
+  variables: GetFirmwaresBatteriesVariables,
+  signal?: AbortSignal
+) =>
+  firmwareToolFetch<
+    GetFirmwaresBatteriesResponse,
+    GetFirmwaresBatteriesError,
+    undefined,
+    {},
+    {},
+    {}
+  >({ url: '/firmwares/batteries', method: 'get', ...variables, signal });
+
+/**
+ * List all the battery types
+ */
+export const useGetFirmwaresBatteries = <TData = GetFirmwaresBatteriesResponse>(
+  variables: GetFirmwaresBatteriesVariables,
+  options?: Omit<
+    reactQuery.UseQueryOptions<
+      GetFirmwaresBatteriesResponse,
+      GetFirmwaresBatteriesError,
+      TData
+    >,
+    'queryKey' | 'queryFn' | 'initialData'
+  >
+) => {
+  const { fetcherOptions, queryOptions, queryKeyFn } = useFirmwareToolContext(options);
+  return reactQuery.useQuery<
+    GetFirmwaresBatteriesResponse,
+    GetFirmwaresBatteriesError,
+    TData
+  >({
+    queryKey: queryKeyFn({
+      path: '/firmwares/batteries',
+      operationId: 'getFirmwaresBatteries',
+      variables,
+    }),
+    queryFn: ({ signal }) =>
+      fetchGetFirmwaresBatteries({ ...fetcherOptions, ...variables }, signal),
+    ...options,
+    ...queryOptions,
+  });
+};
+
+export type GetFirmwaresDefaultConfigBoardPathParams = {
+  board:
+    | 'BOARD_SLIMEVR'
+    | 'BOARD_NODEMCU'
+    | 'BOARD_WROOM32'
+    | 'BOARD_WEMOSD1MINI'
+    | 'BOARD_TTGO_TBASE'
+    | 'BOARD_ESP01'
+    | 'BOARD_LOLIN_C3_MINI'
+    | 'BOARD_BEETLE32C3'
+    | 'BOARD_ES32C3DEVKITM1';
+};
+
+export type GetFirmwaresDefaultConfigBoardError = Fetcher.ErrorWrapper<undefined>;
+
+export type GetFirmwaresDefaultConfigBoardVariables = {
+  pathParams: GetFirmwaresDefaultConfigBoardPathParams;
+} & FirmwareToolContext['fetcherOptions'];
+
+/**
+ * Gives the default pins / configuration of a given board
+ */
+export const fetchGetFirmwaresDefaultConfigBoard = (
+  variables: GetFirmwaresDefaultConfigBoardVariables,
+  signal?: AbortSignal
+) =>
+  firmwareToolFetch<
+    Schemas.DefaultBuildConfigDTO,
+    GetFirmwaresDefaultConfigBoardError,
+    undefined,
+    {},
+    {},
+    GetFirmwaresDefaultConfigBoardPathParams
+  >({
+    url: '/firmwares/default-config/{board}',
+    method: 'get',
+    ...variables,
+    signal,
+  });
+
+/**
+ * Gives the default pins / configuration of a given board
+ */
+export const useGetFirmwaresDefaultConfigBoard = <
+  TData = Schemas.DefaultBuildConfigDTO,
+>(
+  variables: GetFirmwaresDefaultConfigBoardVariables,
+  options?: Omit<
+    reactQuery.UseQueryOptions<
+      Schemas.DefaultBuildConfigDTO,
+      GetFirmwaresDefaultConfigBoardError,
+      TData
+    >,
+    'queryKey' | 'queryFn' | 'initialData'
+  >
+) => {
+  const { fetcherOptions, queryOptions, queryKeyFn } = useFirmwareToolContext(options);
+  return reactQuery.useQuery<
+    Schemas.DefaultBuildConfigDTO,
+    GetFirmwaresDefaultConfigBoardError,
+    TData
+  >({
+    queryKey: queryKeyFn({
+      path: '/firmwares/default-config/{board}',
+      operationId: 'getFirmwaresDefaultConfigBoard',
+      variables,
+    }),
+    queryFn: ({ signal }) =>
+      fetchGetFirmwaresDefaultConfigBoard({ ...fetcherOptions, ...variables }, signal),
+    ...options,
+    ...queryOptions,
+  });
+};
+
+export type GetFirmwaresIdPathParams = {
+  id: string;
+};
+
+export type GetFirmwaresIdError = Fetcher.ErrorWrapper<{
+  status: 404;
+  payload: Schemas.HttpException;
+}>;
+
+export type GetFirmwaresIdVariables = {
+  pathParams: GetFirmwaresIdPathParams;
+} & FirmwareToolContext['fetcherOptions'];
+
+/**
+ * Get the inforamtions about a firmware from its id
+ * also provide more informations than the simple list, like pins and imus and files
+ */
+export const fetchGetFirmwaresId = (
+  variables: GetFirmwaresIdVariables,
+  signal?: AbortSignal
+) =>
+  firmwareToolFetch<
+    Schemas.FirmwareDetailDTO,
+    GetFirmwaresIdError,
+    undefined,
+    {},
+    {},
+    GetFirmwaresIdPathParams
+  >({ url: '/firmwares/{id}', method: 'get', ...variables, signal });
+
+/**
+ * Get the inforamtions about a firmware from its id
+ * also provide more informations than the simple list, like pins and imus and files
+ */
+export const useGetFirmwaresId = <TData = Schemas.FirmwareDetailDTO>(
+  variables: GetFirmwaresIdVariables,
+  options?: Omit<
+    reactQuery.UseQueryOptions<Schemas.FirmwareDetailDTO, GetFirmwaresIdError, TData>,
+    'queryKey' | 'queryFn' | 'initialData'
+  >
+) => {
+  const { fetcherOptions, queryOptions, queryKeyFn } = useFirmwareToolContext(options);
+  return reactQuery.useQuery<Schemas.FirmwareDetailDTO, GetFirmwaresIdError, TData>({
+    queryKey: queryKeyFn({
+      path: '/firmwares/{id}',
+      operationId: 'getFirmwaresId',
+      variables,
+    }),
+    queryFn: ({ signal }) =>
+      fetchGetFirmwaresId({ ...fetcherOptions, ...variables }, signal),
+    ...options,
+    ...queryOptions,
+  });
+};
+
+export type GetHealthError = Fetcher.ErrorWrapper<undefined>;
+
+export type GetHealthVariables = FirmwareToolContext['fetcherOptions'];
+
+/**
+ * Gives the status of the api
+ * this endpoint will always return true
+ */
+export const fetchGetHealth = (variables: GetHealthVariables, signal?: AbortSignal) =>
+  firmwareToolFetch<boolean, GetHealthError, undefined, {}, {}, {}>({
+    url: '/health',
+    method: 'get',
+    ...variables,
+    signal,
+  });
+
+/**
+ * Gives the status of the api
+ * this endpoint will always return true
+ */
+export const useGetHealth = <TData = boolean>(
+  variables: GetHealthVariables,
+  options?: Omit<
+    reactQuery.UseQueryOptions<boolean, GetHealthError, TData>,
+    'queryKey' | 'queryFn' | 'initialData'
+  >
+) => {
+  const { fetcherOptions, queryOptions, queryKeyFn } = useFirmwareToolContext(options);
+  return reactQuery.useQuery<boolean, GetHealthError, TData>({
+    queryKey: queryKeyFn({
+      path: '/health',
+      operationId: 'getHealth',
+      variables,
+    }),
+    queryFn: ({ signal }) =>
+      fetchGetHealth({ ...fetcherOptions, ...variables }, signal),
+    ...options,
+    ...queryOptions,
+  });
+};
+
+export type QueryOperation =
+  | {
+      path: '/is-compatible/{version}';
+      operationId: 'getIsCompatibleVersion';
+      variables: GetIsCompatibleVersionVariables;
+    }
+  | {
+      path: '/firmwares';
+      operationId: 'getFirmwares';
+      variables: GetFirmwaresVariables;
+    }
+  | {
+      path: '/firmwares/build-status/{id}';
+      operationId: 'getFirmwaresBuildStatusId';
+      variables: GetFirmwaresBuildStatusIdVariables;
+    }
+  | {
+      path: '/firmwares/boards';
+      operationId: 'getFirmwaresBoards';
+      variables: GetFirmwaresBoardsVariables;
+    }
+  | {
+      path: '/firmwares/versions';
+      operationId: 'getFirmwaresVersions';
+      variables: GetFirmwaresVersionsVariables;
+    }
+  | {
+      path: '/firmwares/imus';
+      operationId: 'getFirmwaresImus';
+      variables: GetFirmwaresImusVariables;
+    }
+  | {
+      path: '/firmwares/batteries';
+      operationId: 'getFirmwaresBatteries';
+      variables: GetFirmwaresBatteriesVariables;
+    }
+  | {
+      path: '/firmwares/default-config/{board}';
+      operationId: 'getFirmwaresDefaultConfigBoard';
+      variables: GetFirmwaresDefaultConfigBoardVariables;
+    }
+  | {
+      path: '/firmwares/{id}';
+      operationId: 'getFirmwaresId';
+      variables: GetFirmwaresIdVariables;
+    }
+  | {
+      path: '/health';
+      operationId: 'getHealth';
+      variables: GetHealthVariables;
+    };
--- a/gui/src/firmware-tool-api/firmwareToolContext.ts
+++ b/gui/src/firmware-tool-api/firmwareToolContext.ts
@@ -0,0 +1,99 @@
+import type { QueryKey, UseQueryOptions } from '@tanstack/react-query';
+import { QueryOperation } from './firmwareToolComponents';
+
+export type FirmwareToolContext = {
+  fetcherOptions: {
+    /**
+     * Headers to inject in the fetcher
+     */
+    headers?: {};
+    /**
+     * Query params to inject in the fetcher
+     */
+    queryParams?: {};
+  };
+  queryOptions: {
+    /**
+     * Set this to `false` to disable automatic refetching when the query mounts or changes query keys.
+     * Defaults to `true`.
+     */
+    enabled?: boolean;
+  };
+  /**
+   * Query key manager.
+   */
+  queryKeyFn: (operation: QueryOperation) => QueryKey;
+};
+
+/**
+ * Context injected into every react-query hook wrappers
+ *
+ * @param queryOptions options from the useQuery wrapper
+ */
+export function useFirmwareToolContext<
+  TQueryFnData = unknown,
+  TError = unknown,
+  TData = TQueryFnData,
+  TQueryKey extends QueryKey = QueryKey,
+>(
+  _queryOptions?: Omit<
+    UseQueryOptions<TQueryFnData, TError, TData, TQueryKey>,
+    'queryKey' | 'queryFn'
+  >
+): FirmwareToolContext {
+  return {
+    fetcherOptions: {},
+    queryOptions: {},
+    queryKeyFn,
+  };
+}
+
+export const queryKeyFn = (operation: QueryOperation) => {
+  const queryKey: unknown[] = hasPathParams(operation)
+    ? operation.path
+        .split('/')
+        .filter(Boolean)
+        .map((i) => resolvePathParam(i, operation.variables.pathParams))
+    : operation.path.split('/').filter(Boolean);
+
+  if (hasQueryParams(operation)) {
+    queryKey.push(operation.variables.queryParams);
+  }
+
+  if (hasBody(operation)) {
+    queryKey.push(operation.variables.body);
+  }
+
+  return queryKey;
+};
+// Helpers
+const resolvePathParam = (key: string, pathParams: Record<string, string>) => {
+  if (key.startsWith('{') && key.endsWith('}')) {
+    return pathParams[key.slice(1, -1)];
+  }
+  return key;
+};
+
+const hasPathParams = (
+  operation: QueryOperation
+): operation is QueryOperation & {
+  variables: { pathParams: Record<string, string> };
+} => {
+  return Boolean((operation.variables as any).pathParams);
+};
+
+const hasBody = (
+  operation: QueryOperation
+): operation is QueryOperation & {
+  variables: { body: Record<string, unknown> };
+} => {
+  return Boolean((operation.variables as any).body);
+};
+
+const hasQueryParams = (
+  operation: QueryOperation
+): operation is QueryOperation & {
+  variables: { queryParams: Record<string, unknown> };
+} => {
+  return Boolean((operation.variables as any).queryParams);
+};
--- a/gui/src/firmware-tool-api/firmwareToolFetcher.ts
+++ b/gui/src/firmware-tool-api/firmwareToolFetcher.ts
@@ -0,0 +1,109 @@
+import { FirmwareToolContext } from './firmwareToolContext';
+
+export const firmwareToolBaseUrl =
+  import.meta.env.VITE_FIRMWARE_TOOL_URL ?? 'http://localhost:3000';
+export const firmwareToolS3BaseUrl =
+  import.meta.env.VITE_FIRMWARE_TOOL_S3_URL ?? 'http://localhost:9099';
+
+export type ErrorWrapper<TError> = TError | { status: 'unknown'; payload: string };
+
+export type FirmwareToolFetcherOptions<TBody, THeaders, TQueryParams, TPathParams> = {
+  url: string;
+  method: string;
+  body?: TBody;
+  headers?: THeaders;
+  queryParams?: TQueryParams;
+  pathParams?: TPathParams;
+  signal?: AbortSignal;
+} & FirmwareToolContext['fetcherOptions'];
+
+export async function firmwareToolFetch<
+  TData,
+  TError,
+  TBody extends {} | FormData | undefined | null,
+  THeaders extends {},
+  TQueryParams extends {},
+  TPathParams extends {},
+>({
+  url,
+  method,
+  body,
+  headers,
+  pathParams,
+  queryParams,
+  signal,
+}: FirmwareToolFetcherOptions<
+  TBody,
+  THeaders,
+  TQueryParams,
+  TPathParams
+>): Promise<TData> {
+  try {
+    const requestHeaders: HeadersInit = {
+      'Content-Type': 'application/json',
+      ...headers,
+    };
+
+    /**
+     * As the fetch API is being used, when multipart/form-data is specified
+     * the Content-Type header must be deleted so that the browser can set
+     * the correct boundary.
+     * https://developer.mozilla.org/en-US/docs/Web/API/FormData/Using_FormData_Objects#sending_files_using_a_formdata_object
+     */
+    if (requestHeaders['Content-Type'].toLowerCase().includes('multipart/form-data')) {
+      delete requestHeaders['Content-Type'];
+    }
+
+    const response = await window.fetch(
+      `${firmwareToolBaseUrl}${resolveUrl(url, queryParams, pathParams)}`,
+      {
+        signal,
+        method: method.toUpperCase(),
+        body: body
+          ? body instanceof FormData
+            ? body
+            : JSON.stringify(body)
+          : undefined,
+        headers: requestHeaders,
+      }
+    );
+    if (!response.ok) {
+      let error: ErrorWrapper<TError>;
+      try {
+        error = await response.json();
+      } catch (e) {
+        error = {
+          status: 'unknown' as const,
+          payload:
+            e instanceof Error ? `Unexpected error (${e.message})` : 'Unexpected error',
+        };
+      }
+
+      throw error;
+    }
+
+    if (response.headers.get('content-type')?.includes('json')) {
+      return await response.json();
+    } else {
+      // if it is not a json response, assume it is a blob and cast it to TData
+      return (await response.blob()) as unknown as TData;
+    }
+  } catch (e) {
+    let errorObject: Error = {
+      name: 'unknown' as const,
+      message: e instanceof Error ? `Network error (${e.message})` : 'Network error',
+      stack: e as string,
+    };
+    throw errorObject;
+  }
+}
+
+const resolveUrl = (
+  url: string,
+  queryParams: Record<string, string> = {},
+  pathParams: Record<string, string> = {}
+) => {
+  let query = new URLSearchParams(queryParams).toString();
+  if (query) query = `?${query}`;
+  return url.replace(/\{\w*\}/g, (key) => pathParams[key.slice(1, -1)]) + query;
+};
--- a/gui/src/firmware-tool-api/firmwareToolSchemas.ts
+++ b/gui/src/firmware-tool-api/firmwareToolSchemas.ts
@@ -0,0 +1,608 @@
+/**
+ * Generated by @openapi-codegen
+ *
+ * @version 0.0.1
+ */
+export type VerionCheckResponse = {
+  success: boolean;
+  reason?: {
+    message: string;
+    versions: string;
+  };
+};
+
+/**
+ * Root object declaring a built firmware
+ * this object contains:
+ *  - the status of the build
+ *  - the the repository and commit used as source
+ */
+export type FirmwareDTO = {
+  /**
+   * UUID of the firmware
+   *
+   * @format uuid
+   */
+  id: string;
+  /**
+   * Id of the firmware version used.
+   * Usually the commit id of the source
+   * used to build the firmware
+   */
+  releaseId: string;
+  /**
+   * Current status of the build
+   * this value will change during the build
+   * process
+   *
+   * BUILDING -> DONE \\ the firmwrare is build and ready
+   *          -> FAILED  \\ the build failled and will be garbage collected
+   */
+  buildStatus:
+    | 'CREATING_BUILD_FOLDER'
+    | 'DOWNLOADING_FIRMWARE'
+    | 'EXTRACTING_FIRMWARE'
+    | 'SETTING_UP_DEFINES'
+    | 'BUILDING'
+    | 'SAVING'
+    | 'DONE'
+    | 'ERROR';
+  /**
+   * The repository and branch used as source of the firmware
+   */
+  buildVersion: string;
+  /**
+   * The date of creation of this firmware build
+   *
+   * @format date-time
+   */
+  createdAt: string;
+};
+
+export type BuildResponseDTO = {
+  /**
+   * Id of the firmware
+   *
+   * @format uuid
+   */
+  id: string;
+  /**
+   * Build status of the firmware
+   */
+  status:
+    | 'CREATING_BUILD_FOLDER'
+    | 'DOWNLOADING_FIRMWARE'
+    | 'EXTRACTING_FIRMWARE'
+    | 'SETTING_UP_DEFINES'
+    | 'BUILDING'
+    | 'SAVING'
+    | 'DONE'
+    | 'ERROR';
+  /**
+   * List of built firmware files, only set if the build succeeded
+   */
+  firmwareFiles?: FirmwareFileDTO[];
+};
+
+export type FirmwareFileDTO = {
+  /**
+   * Url to the file
+   */
+  url: string;
+  /**
+   * Address of the partition
+   */
+  offset: number;
+  /**
+   * Is this file the main firmware
+   */
+  isFirmware: boolean;
+  /**
+   * Id of the linked firmware
+   *
+   * @format uuid
+   */
+  firmwareId: string;
+};
+
+export type CreateBuildFirmwareDTO = {
+  /**
+   * Repository of the firmware used
+   */
+  version: string;
+  /**
+   * Board config, used to declare the pins used by the board
+   */
+  boardConfig: CreateBoardConfigDTO;
+  /**
+   * Imu config, list of all the imus used and their pins
+   *
+   * @minItems 1
+   */
+  imusConfig: CreateImuConfigDTO[];
+};
+
+export type CreateBoardConfigDTO = {
+  /**
+   * Type of the board
+   */
+  type:
+    | 'BOARD_SLIMEVR'
+    | 'BOARD_NODEMCU'
+    | 'BOARD_WROOM32'
+    | 'BOARD_WEMOSD1MINI'
+    | 'BOARD_TTGO_TBASE'
+    | 'BOARD_ESP01'
+    | 'BOARD_LOLIN_C3_MINI'
+    | 'BOARD_BEETLE32C3'
+    | 'BOARD_ES32C3DEVKITM1';
+  /**
+   * Pin address of the indicator LED
+   */
+  ledPin: string;
+  /**
+   * Is the indicator LED enabled
+   */
+  enableLed: boolean;
+  /**
+   * Is the led inverted
+   */
+  ledInverted: boolean;
+  /**
+   * Pin address of the battery indicator
+   */
+  batteryPin: string;
+  /**
+   * Type of battery
+   */
+  batteryType: 'BAT_EXTERNAL' | 'BAT_INTERNAL' | 'BAT_MCP3021' | 'BAT_INTERNAL_MCP3021';
+  /**
+   * Array of the different battery resistors, [indicator, SHIELD_R1, SHIELD_R2]
+   *
+   * @minItems 3
+   * @maxItems 3
+   */
+  batteryResistances: number[];
+};
+
+export type CreateImuConfigDTO = {
+  /**
+   * Type of the imu
+   */
+  type:
+    | 'IMU_BNO085'
+    | 'IMU_MPU9250'
+    | 'IMU_MPU6500'
+    | 'IMU_BNO080'
+    | 'IMU_BNO055'
+    | 'IMU_BNO086'
+    | 'IMU_MPU6050'
+    | 'IMU_BMI160'
+    | 'IMU_ICM20948'
+    | 'IMU_BMI270';
+  /**
+   * Pin address of the imu int pin
+   * not all imus use it
+   */
+  intPin: string | null;
+  /**
+   * Rotation of the imu in degrees
+   */
+  rotation: number;
+  /**
+   * Pin address of the scl pin
+   */
+  sclPin: string;
+  /**
+   * Pin address of the sda pin
+   */
+  sdaPin: string;
+  /**
+   * Is this imu optionnal
+   * Allows for extensions to be unplugged
+   */
+  optional: boolean;
+};
+
+export type VersionNotFoundExeption = {
+  cause: void;
+  name: string;
+  message: string;
+  stack?: string;
+};
+
+/**
+ * A representation of any set of values over any amount of time. This is the most basic building block
+ * of RxJS.
+ */
+export type ObservableType = {
+  /**
+   * @deprecated true
+   */
+  source?: Observableany;
+  /**
+   * @deprecated true
+   */
+  operator?: OperatoranyType;
+};
+
+/**
+ * A representation of any set of values over any amount of time. This is the most basic building block
+ * of RxJS.
+ */
+export type Observableany = {
+  /**
+   * @deprecated true
+   */
+  source?: Observableany;
+  /**
+   * @deprecated true
+   */
+  operator?: Operatoranyany;
+};
+
+/**
+ * *
+ */
+export type Operatoranyany = {};
+
+/**
+ * *
+ */
+export type OperatoranyType = {};
+
+export type ReleaseDTO = {
+  /**
+   * id of the release, usually the commit id
+   */
+  id: string;
+  /**
+   * url of the release
+   */
+  url: string;
+  /**
+   * name of the release
+   */
+  name: string;
+  /**
+   * url of the source archive
+   */
+  zipball_url: string;
+  /**
+   * Is this release a pre release
+   */
+  prerelease: boolean;
+  /**
+   * Is this release a draft
+   */
+  draft: boolean;
+};
+
+export type Imudto = {
+  /**
+   * Type of the imu
+   */
+  type:
+    | 'IMU_BNO085'
+    | 'IMU_MPU9250'
+    | 'IMU_MPU6500'
+    | 'IMU_BNO080'
+    | 'IMU_BNO055'
+    | 'IMU_BNO086'
+    | 'IMU_MPU6050'
+    | 'IMU_BMI160'
+    | 'IMU_ICM20948'
+    | 'IMU_BMI270';
+  /**
+   * Does that imu type require a int pin
+   */
+  hasIntPin: boolean;
+  /**
+   * First address of the imu
+   */
+  imuStartAddress: number;
+  /**
+   * Increment of the address for each new imus
+   */
+  addressIncrement: number;
+};
+
+export type DefaultBuildConfigDTO = {
+  /**
+   * Default config of the selected board
+   * contains all the default pins information about the selected board
+   */
+  boardConfig: CreateBoardConfigDTO;
+  /**
+   * Inform the flashing utility that the user need to press the boot (or Flash) button
+   * on the tracker
+   */
+  needBootPress?: boolean;
+  /**
+   * Inform the flashing utility that the board will need a reboot after
+   * being flashed
+   */
+  needManualReboot?: boolean;
+  /**
+   * Will use the default values and skip the customisation options
+   */
+  shouldOnlyUseDefaults?: boolean;
+  /**
+   * List of the possible imus pins, usually only two items will be sent
+   *
+   * @minItems 1
+   */
+  imuDefaults: IMUDefaultDTO[];
+  /**
+   * Gives the offset of the firmare file in the eeprom. Used for flashing
+   */
+  application_offset: number;
+};
+
+export type IMUDefaultDTO = {
+  /**
+   * Type of the imu
+   */
+  type?:
+    | 'IMU_BNO085'
+    | 'IMU_MPU9250'
+    | 'IMU_MPU6500'
+    | 'IMU_BNO080'
+    | 'IMU_BNO055'
+    | 'IMU_BNO086'
+    | 'IMU_MPU6050'
+    | 'IMU_BMI160'
+    | 'IMU_ICM20948'
+    | 'IMU_BMI270';
+  /**
+   * Pin address of the imu int pin
+   * not all imus use it
+   */
+  intPin: string | null;
+  /**
+   * Rotation of the imu in degrees
+   */
+  rotation?: number;
+  /**
+   * Pin address of the scl pin
+   */
+  sclPin: string;
+  /**
+   * Pin address of the sda pin
+   */
+  sdaPin: string;
+  /**
+   * Is this imu optionnal
+   * Allows for extensions to be unplugged
+   */
+  optional: boolean;
+};
+
+export type BoardConfigDTONullable = {
+  /**
+   * Unique id of the board config, used for relations
+   *
+   * @format uuid
+   */
+  id: string;
+  /**
+   * Type of the board
+   */
+  type:
+    | 'BOARD_SLIMEVR'
+    | 'BOARD_NODEMCU'
+    | 'BOARD_WROOM32'
+    | 'BOARD_WEMOSD1MINI'
+    | 'BOARD_TTGO_TBASE'
+    | 'BOARD_ESP01'
+    | 'BOARD_LOLIN_C3_MINI'
+    | 'BOARD_BEETLE32C3'
+    | 'BOARD_ES32C3DEVKITM1';
+  /**
+   * Pin address of the indicator LED
+   */
+  ledPin: string;
+  /**
+   * Is the indicator LED enabled
+   */
+  enableLed: boolean;
+  /**
+   * Is the led inverted
+   */
+  ledInverted: boolean;
+  /**
+   * Pin address of the battery indicator
+   */
+  batteryPin: string;
+  /**
+   * Type of battery
+   */
+  batteryType: 'BAT_EXTERNAL' | 'BAT_INTERNAL' | 'BAT_MCP3021' | 'BAT_INTERNAL_MCP3021';
+  /**
+   * Array of the different battery resistors, [indicator, SHIELD_R1, SHIELD_R2]
+   *
+   * @minItems 3
+   * @maxItems 3
+   */
+  batteryResistances: number[];
+  /**
+   * Id of the linked firmware, used for relations
+   *
+   * @format uuid
+   */
+  firmwareId: string;
+};
+
+export type FirmwareDetailDTO = {
+  /**
+   * Pins informations about the board
+   */
+  boardConfig: BoardConfigDTONullable;
+  /**
+   * List of the declared imus, and their pin configuration
+   *
+   * @minItems 1
+   */
+  imusConfig: ImuConfigDTO[];
+  /**
+   * List of the built files / partitions with their url and offsets
+   */
+  firmwareFiles: FirmwareFileDTO[];
+  /**
+   * UUID of the firmware
+   *
+   * @format uuid
+   */
+  id: string;
+  /**
+   * Id of the firmware version used.
+   * Usually the commit id of the source
+   * used to build the firmware
+   */
+  releaseId: string;
+  /**
+   * Current status of the build
+   * this value will change during the build
+   * process
+   *
+   * BUILDING -> DONE \\ the firmwrare is build and ready
+   *          -> FAILED  \\ the build failled and will be garbage collected
+   */
+  buildStatus:
+    | 'CREATING_BUILD_FOLDER'
+    | 'DOWNLOADING_FIRMWARE'
+    | 'EXTRACTING_FIRMWARE'
+    | 'SETTING_UP_DEFINES'
+    | 'BUILDING'
+    | 'SAVING'
+    | 'DONE'
+    | 'ERROR';
+  /**
+   * The repository and branch used as source of the firmware
+   */
+  buildVersion: string;
+  /**
+   * The date of creation of this firmware build
+   *
+   * @format date-time
+   */
+  createdAt: string;
+};
+
+export type BoardConfigDTO = {
+  /**
+   * Unique id of the board config, used for relations
+   *
+   * @format uuid
+   */
+  id: string;
+  /**
+   * Type of the board
+   */
+  type:
+    | 'BOARD_SLIMEVR'
+    | 'BOARD_NODEMCU'
+    | 'BOARD_WROOM32'
+    | 'BOARD_WEMOSD1MINI'
+    | 'BOARD_TTGO_TBASE'
+    | 'BOARD_ESP01'
+    | 'BOARD_LOLIN_C3_MINI'
+    | 'BOARD_BEETLE32C3'
+    | 'BOARD_ES32C3DEVKITM1';
+  /**
+   * Pin address of the indicator LED
+   */
+  ledPin: string;
+  /**
+   * Is the indicator LED enabled
+   */
+  enableLed: boolean;
+  /**
+   * Is the led inverted
+   */
+  ledInverted: boolean;
+  /**
+   * Pin address of the battery indicator
+   */
+  batteryPin: string;
+  /**
+   * Type of battery
+   */
+  batteryType: 'BAT_EXTERNAL' | 'BAT_INTERNAL' | 'BAT_MCP3021' | 'BAT_INTERNAL_MCP3021';
+  /**
+   * Array of the different battery resistors, [indicator, SHIELD_R1, SHIELD_R2]
+   *
+   * @minItems 3
+   * @maxItems 3
+   */
+  batteryResistances: number[];
+  /**
+   * Id of the linked firmware, used for relations
+   *
+   * @format uuid
+   */
+  firmwareId: string;
+};
+
+export type ImuConfigDTO = {
+  /**
+   * Unique id of the config
+   * this probably will never be shown to the user as it is moslty use for relations
+   *
+   * @format uuid
+   */
+  id: string;
+  /**
+   * Type of the imu
+   */
+  type:
+    | 'IMU_BNO085'
+    | 'IMU_MPU9250'
+    | 'IMU_MPU6500'
+    | 'IMU_BNO080'
+    | 'IMU_BNO055'
+    | 'IMU_BNO086'
+    | 'IMU_MPU6050'
+    | 'IMU_BMI160'
+    | 'IMU_ICM20948'
+    | 'IMU_BMI270';
+  /**
+   * Rotation of the imu in degrees
+   */
+  rotation: number;
+  /**
+   * Pin address of the imu int pin
+   * not all imus use it
+   */
+  intPin: string | null;
+  /**
+   * Pin address of the scl pin
+   */
+  sclPin: string;
+  /**
+   * Pin address of the sda pin
+   */
+  sdaPin: string;
+  /**
+   * Is this imu optionnal
+   * Allows for extensions to be unplugged
+   */
+  optional: boolean;
+  /**
+   * id of the linked firmware, used for relations
+   *
+   * @format uuid
+   */
+  firmwareId: string;
+};
+
+/**
+ * Defines the base Nest HTTP exception, which is handled by the default
+ * Exceptions Handler.
+ */
+export type HttpException = {
+  cause: void;
+  name: string;
+  message: string;
+  stack?: string;
+};
--- a/gui/src/firmware-tool-api/firmwareToolUtils.ts
+++ b/gui/src/firmware-tool-api/firmwareToolUtils.ts
@@ -0,0 +1,15 @@
+type ComputeRange<
+  N extends number,
+  Result extends Array<unknown> = [],
+> = Result['length'] extends N
+  ? Result
+  : ComputeRange<N, [...Result, Result['length']]>;
+
+export type ClientErrorStatus = Exclude<
+  ComputeRange<500>[number],
+  ComputeRange<400>[number]
+>;
+export type ServerErrorStatus = Exclude<
+  ComputeRange<600>[number],
+  ComputeRange<500>[number]
+>;
--- a/gui/src/hooks/app.ts
+++ b/gui/src/hooks/app.ts
@@ -6,6 +6,7 @@ import {
  useEffect,
  useMemo,
  useReducer,
+  useState,
 } from 'react';
 import {
  BoneT,
@@ -23,6 +24,14 @@ import { useConfig } from './config';
 import { useDataFeedConfig } from './datafeed-config';
 import { useWebsocketAPI } from './websocket-api';
 import { error } from '@/utils/logging';
+import { cacheWrap } from './cache';
+
+export interface FirmwareRelease {
+  name: string;
+  version: string;
+  changelog: string;
+  firmwareFile: string;
+}

 export interface FlatDeviceTracker {
  device?: DeviceDataT;
@@ -39,6 +48,7 @@ export interface AppState {
 }

 export interface AppContext {
+  currentFirmwareRelease: FirmwareRelease | null;
  state: AppState;
  trackers: FlatDeviceTracker[];
  dispatch: Dispatch<AppStateAction>;
@@ -69,6 +79,8 @@ export function useProvideAppContext(): AppContext {
    datafeed: new DataFeedUpdateT(),
    ignoredTrackers: new Set(),
  });
+  const [currentFirmwareRelease, setCurrentFirmwareRelease] =
+    useState<FirmwareRelease | null>(null);

  useEffect(() => {
    if (isConnected) {
@@ -115,7 +127,55 @@ export function useProvideAppContext(): AppContext {
    }
  });

+  useEffect(() => {
+    const fetchCurrentFirmwareRelease = async () => {
+      const releases: any[] | null = JSON.parse(
+        await cacheWrap(
+          'firmware-releases',
+          () =>
+            fetch('https://api.github.com/repos/SlimeVR/SlimeVR-Tracker-ESP/releases')
+              .then((res) => res.text())
+              .catch(() => 'null'),
+          1000 * 60 * 60
+        )
+      );
+      if (!releases) return null;
+
+      const firstRelease = releases.find(
+        (release) =>
+          release.prerelease === false &&
+          release.assets &&
+          release.assets.find(
+            (asset: any) =>
+              asset.name === 'BOARD_SLIMEVR-firmware.bin' && asset.browser_download_url
+          )
+      );
+
+      let version = firstRelease.tag_name;
+      if (version.charAt(0) === 'v') {
+        version = version.substring(1);
+      }
+
+      if (firstRelease) {
+        return {
+          name: firstRelease.name,
+          version,
+          changelog: firstRelease.body,
+          firmwareFile: firstRelease.assets.find(
+            (asset: any) =>
+              asset.name === 'BOARD_SLIMEVR-firmware.bin' && asset.browser_download_url
+          ).browser_download_url,
+        };
+      } else {
+        return null;
+      }
+    };
+
+    fetchCurrentFirmwareRelease().then((res) => setCurrentFirmwareRelease(res));
+  }, []);
+
  return {
+    currentFirmwareRelease,
    state,
    trackers,
    dispatch,
--- a/gui/src/hooks/breakpoint.ts
+++ b/gui/src/hooks/breakpoint.ts
@@ -3,9 +3,8 @@ import { useMediaQuery } from 'react-responsive';
 import tailwindConfig from '../../tailwind.config';

 const fullConfig = resolveConfig(tailwindConfig as any);
-const breakpoints = tailwindConfig.theme.screens;

-type BreakpointKey = keyof typeof breakpoints;
+type BreakpointKey = keyof typeof tailwindConfig.theme.screens;

 export function useBreakpoint<K extends BreakpointKey>(breakpointKey: K) {
  // FIXME There is a flickering issue caused by this, because isMobile is not resolved fast enough
--- a/gui/src/hooks/cache.ts
+++ b/gui/src/hooks/cache.ts
@@ -0,0 +1,68 @@
+import { isTauri } from '@tauri-apps/api/core';
+import { createStore } from '@tauri-apps/plugin-store';
+
+interface CrossStorage {
+  set(key: string, value: string): Promise<void>;
+  get(key: string): Promise<string | null>;
+  delete(key: string): Promise<boolean>;
+}
+
+const localStore: CrossStorage = {
+  get: async (key) => localStorage.getItem(`slimevr-cache/${key}`),
+  set: async (key, value) => localStorage.setItem(`slimevr-cache/${key}`, value),
+  delete: async (key) => {
+    localStorage.removeItem(`slimevr-cache/${key}`);
+    return true;
+  },
+};
+
+const store: CrossStorage = isTauri()
+  ? await createStore('gui-cache.dat', { autoSave: 100 as never })
+  : localStore;
+
+export async function cacheGet(key: string): Promise<string | null> {
+  const itemStr = await store.get(key);
+
+  if (!itemStr) {
+    return null;
+  }
+
+  const item = JSON.parse(itemStr);
+  const now = new Date();
+
+  if (now.getTime() > item.expiry) {
+    await store.delete(key);
+    return null;
+  }
+
+  return item.value;
+}
+
+export async function cacheSet(key: string, value: unknown, ttl: number | undefined) {
+  const now = new Date();
+  const item = {
+    value,
+    expiry: ttl ? now.getTime() + ttl : 0,
+  };
+
+  await store.set(key, JSON.stringify(item));
+}
+
+export async function cacheWrap(
+  key: string,
+  orDefault: () => Promise<string>,
+  ttl: number | undefined
+) {
+  const realItem = await store.get(key);
+  if (!realItem) {
+    const defaultItem = await orDefault();
+    await cacheSet(key, defaultItem, ttl);
+    return defaultItem;
+  } else {
+    return (await cacheGet(key))!;
+  }
+}
+
+export async function cacheDelete(key: string) {
+  await store.delete(key);
+}
--- a/gui/src/hooks/firmware-tool.ts
+++ b/gui/src/hooks/firmware-tool.ts
@@ -0,0 +1,252 @@
+import { createContext, useContext, useState } from 'react';
+import {
+  fetchGetFirmwaresDefaultConfigBoard,
+  useGetHealth,
+  useGetIsCompatibleVersion,
+} from '@/firmware-tool-api/firmwareToolComponents';
+import {
+  BuildResponseDTO,
+  CreateBoardConfigDTO,
+  CreateBuildFirmwareDTO,
+  DefaultBuildConfigDTO,
+  FirmwareFileDTO,
+} from '@/firmware-tool-api/firmwareToolSchemas';
+import { BoardPinsForm } from '@/components/firmware-tool/BoardPinsStep';
+import { DeepPartial } from 'react-hook-form';
+import {
+  BoardType,
+  DeviceIdT,
+  FirmwarePartT,
+  FirmwareUpdateMethod,
+  FirmwareUpdateRequestT,
+  FirmwareUpdateStatus,
+  OTAFirmwareUpdateT,
+  SerialDevicePortT,
+  SerialFirmwareUpdateT,
+} from 'solarxr-protocol';
+import { OnboardingContext } from './onboarding';
+
+export type PartialBuildFirmware = DeepPartial<CreateBuildFirmwareDTO>;
+export type FirmwareBuildStatus = BuildResponseDTO;
+export type SelectedDevice = {
+  type: FirmwareUpdateMethod;
+  deviceId: string | number;
+  deviceNames: string[];
+};
+
+export const boardTypeToFirmwareToolBoardType: Record<
+  Exclude<
+    BoardType,
+    // This boards will not be handled by the firmware tool.
+    // These are either impossible to compile automatically or deprecated
+    BoardType.CUSTOM | BoardType.SLIMEVR_DEV | BoardType.SLIMEVR_LEGACY
+  >,
+  CreateBoardConfigDTO['type'] | null
+> = {
+  [BoardType.UNKNOWN]: null,
+  [BoardType.NODEMCU]: 'BOARD_NODEMCU',
+  [BoardType.WROOM32]: 'BOARD_WROOM32',
+  [BoardType.WEMOSD1MINI]: 'BOARD_WEMOSD1MINI',
+  [BoardType.TTGO_TBASE]: 'BOARD_TTGO_TBASE',
+  [BoardType.ESP01]: 'BOARD_ESP01',
+  [BoardType.SLIMEVR]: 'BOARD_SLIMEVR',
+  [BoardType.LOLIN_C3_MINI]: 'BOARD_LOLIN_C3_MINI',
+  [BoardType.BEETLE32C3]: 'BOARD_BEETLE32C3',
+  [BoardType.ES32C3DEVKITM1]: 'BOARD_ES32C3DEVKITM1',
+};
+
+export const firmwareToolToBoardType: Record<CreateBoardConfigDTO['type'], BoardType> =
+  Object.fromEntries(
+    Object.entries(boardTypeToFirmwareToolBoardType).map((a) => a.reverse())
+  );
+
+export const firmwareUpdateErrorStatus = [
+  FirmwareUpdateStatus.ERROR_AUTHENTICATION_FAILED,
+  FirmwareUpdateStatus.ERROR_DEVICE_NOT_FOUND,
+  FirmwareUpdateStatus.ERROR_DOWNLOAD_FAILED,
+  FirmwareUpdateStatus.ERROR_PROVISIONING_FAILED,
+  FirmwareUpdateStatus.ERROR_TIMEOUT,
+  FirmwareUpdateStatus.ERROR_UNKNOWN,
+  FirmwareUpdateStatus.ERROR_UNSUPPORTED_METHOD,
+  FirmwareUpdateStatus.ERROR_UPLOAD_FAILED,
+];
+
+export interface FirmwareToolContext {
+  selectBoard: (boardType: CreateBoardConfigDTO['type']) => Promise<void>;
+  selectVersion: (version: CreateBuildFirmwareDTO['version']) => void;
+  updatePins: (form: BoardPinsForm) => void;
+  updateImus: (imus: CreateBuildFirmwareDTO['imusConfig']) => void;
+  setBuildStatus: (buildStatus: FirmwareBuildStatus) => void;
+  selectDevices: (device: SelectedDevice[] | null) => void;
+  retry: () => void;
+  buildStatus: FirmwareBuildStatus;
+  defaultConfig: DefaultBuildConfigDTO | null;
+  newConfig: PartialBuildFirmware | null;
+  selectedDevices: SelectedDevice[] | null;
+  isStepLoading: boolean;
+  isGlobalLoading: boolean;
+  isCompatible: boolean;
+  isError: boolean;
+}
+
+export const FirmwareToolContextC = createContext<FirmwareToolContext>(
+  undefined as any
+);
+
+export function useFirmwareTool() {
+  const context = useContext<FirmwareToolContext>(FirmwareToolContextC);
+  if (!context) {
+    throw new Error('useFirmwareTool must be within a FirmwareToolContext Provider');
+  }
+  return context;
+}
+
+export function useFirmwareToolContext(): FirmwareToolContext {
+  const [defaultConfig, setDefaultConfig] = useState<DefaultBuildConfigDTO | null>(
+    null
+  );
+  const [selectedDevices, selectDevices] = useState<SelectedDevice[] | null>(null);
+  const [newConfig, setNewConfig] = useState<PartialBuildFirmware>({});
+  const [isLoading, setLoading] = useState(false);
+  const { isError, isLoading: isInitialLoading, refetch } = useGetHealth({});
+  const compatibilityCheckEnabled = !!__VERSION_TAG__;
+  const { isLoading: isCompatibilityLoading, data: compatibilityData } =
+    useGetIsCompatibleVersion(
+      { pathParams: { version: __VERSION_TAG__ } },
+      { enabled: compatibilityCheckEnabled }
+    );
+  const [buildStatus, setBuildStatus] = useState<FirmwareBuildStatus>({
+    status: 'CREATING_BUILD_FOLDER',
+    id: '',
+  });
+
+  return {
+    selectBoard: async (boardType: CreateBoardConfigDTO['type']) => {
+      setLoading(true);
+      const boardDefaults = await fetchGetFirmwaresDefaultConfigBoard({
+        pathParams: { board: boardType },
+      });
+      setDefaultConfig(boardDefaults);
+      if (boardDefaults.shouldOnlyUseDefaults) {
+        setNewConfig((currConfig) => ({
+          ...currConfig,
+          ...boardDefaults,
+          imusConfig: boardDefaults.imuDefaults,
+        }));
+      } else {
+        setNewConfig((currConfig) => ({
+          ...currConfig,
+          boardConfig: { ...currConfig.boardConfig, type: boardType },
+          imusConfig: [],
+        }));
+      }
+      setLoading(false);
+    },
+    updatePins: (form: BoardPinsForm) => {
+      setNewConfig((currConfig) => {
+        return {
+          ...currConfig,
+          imusConfig: [...(currConfig?.imusConfig || [])],
+          boardConfig: {
+            ...currConfig.boardConfig,
+            ...form,
+          },
+        };
+      });
+    },
+    updateImus: (imus: CreateBuildFirmwareDTO['imusConfig']) => {
+      setNewConfig((currConfig) => {
+        return {
+          ...currConfig,
+          imusConfig: imus.map(({ rotation, ...fields }) => ({
+            ...fields,
+            rotation: Number(rotation),
+          })), // Make sure that the rotation is handled as number
+        };
+      });
+    },
+    retry: async () => {
+      setLoading(true);
+      await refetch();
+      setLoading(false);
+    },
+    selectVersion: (version: CreateBuildFirmwareDTO['version']) => {
+      setNewConfig((currConfig) => ({ ...currConfig, version }));
+    },
+    setBuildStatus,
+    selectDevices,
+    selectedDevices,
+    buildStatus,
+    defaultConfig,
+    newConfig,
+    isStepLoading: isLoading,
+    isGlobalLoading: isInitialLoading || isCompatibilityLoading,
+    isCompatible: !compatibilityCheckEnabled || (compatibilityData?.success ?? false),
+    isError: isError || (!compatibilityData?.success && compatibilityCheckEnabled),
+  };
+}
+
+export const getFlashingRequests = (
+  devices: SelectedDevice[],
+  firmwareFiles: FirmwareFileDTO[],
+  onboardingState: OnboardingContext['state'],
+  defaultConfig: DefaultBuildConfigDTO | null
+) => {
+  const firmware = firmwareFiles.find(({ isFirmware }) => isFirmware);
+  if (!firmware) throw new Error('invalid state - no firmware to find');
+
+  const requests = [];
+
+  for (const device of devices) {
+    switch (device.type) {
+      case FirmwareUpdateMethod.OTAFirmwareUpdate: {
+        const dId = new DeviceIdT();
+        dId.id = +device.deviceId;
+
+        const part = new FirmwarePartT();
+        part.offset = 0;
+        part.url = firmware.url;
+
+        const method = new OTAFirmwareUpdateT();
+        method.deviceId = dId;
+        method.firmwarePart = part;
+
+        const req = new FirmwareUpdateRequestT();
+        req.method = method;
+        req.methodType = FirmwareUpdateMethod.OTAFirmwareUpdate;
+        requests.push(req);
+        break;
+      }
+      case FirmwareUpdateMethod.SerialFirmwareUpdate: {
+        const id = new SerialDevicePortT();
+        id.port = device.deviceId.toString();
+
+        if (!onboardingState.wifi?.ssid || !onboardingState.wifi?.password)
+          throw new Error('invalid state, wifi should be set');
+
+        const method = new SerialFirmwareUpdateT();
+        method.deviceId = id;
+        method.ssid = onboardingState.wifi.ssid;
+        method.password = onboardingState.wifi.password;
+        method.needManualReboot = defaultConfig?.needManualReboot ?? false;
+
+        method.firmwarePart = firmwareFiles.map(({ offset, url }) => {
+          const part = new FirmwarePartT();
+          part.offset = offset;
+          part.url = url;
+          return part;
+        });
+
+        const req = new FirmwareUpdateRequestT();
+        req.method = method;
+        req.methodType = FirmwareUpdateMethod.SerialFirmwareUpdate;
+        requests.push(req);
+        break;
+      }
+      default: {
+        throw new Error('unsupported flashing method');
+      }
+    }
+  }
+  return requests;
+};
--- a/gui/src/hooks/onboarding.ts
+++ b/gui/src/hooks/onboarding.ts
@@ -16,7 +16,7 @@ interface OnboardingState {
 export interface OnboardingContext {
  state: OnboardingState;
  applyProgress: (value: number) => void;
-  setWifiCredentials: (ssid: string, password: string) => void;
+  setWifiCredentials: (ssid: string, password?: string) => void;
  skipSetup: () => void;
 }

@@ -68,8 +68,8 @@ export function useProvideOnboarding(): OnboardingContext {
        dispatch({ type: 'progress', value });
      }, []);
    },
-    setWifiCredentials: (ssid: string, password: string) => {
-      dispatch({ type: 'wifi-creds', ssid, password });
+    setWifiCredentials: (ssid: string, password?: string) => {
+      dispatch({ type: 'wifi-creds', ssid, password: password ?? '' });
    },
    skipSetup: () => {
      setConfig({ doneOnboarding: true });
--- a/gui/src/hooks/tracker.ts
+++ b/gui/src/hooks/tracker.ts
@@ -1,8 +1,8 @@
 import { useEffect, useMemo, useRef, useState } from 'react';
-import { BodyPart, TrackerDataT, TrackerStatus } from 'solarxr-protocol';
+import { BodyPart, TrackerDataT, TrackerInfoT, TrackerStatus } from 'solarxr-protocol';
 import { QuaternionFromQuatT, QuaternionToEulerDegrees } from '@/maths/quaternion';
 import { useAppContext } from './app';
-import { useLocalization } from '@fluent/react';
+import { ReactLocalization, useLocalization } from '@fluent/react';
 import { useDataFeedConfig } from './datafeed-config';
 import { Quaternion, Vector3 } from 'three';
 import { Vector3FromVec3fT } from '@/maths/vector3';
@@ -36,18 +36,19 @@ export function useTrackers() {
  };
 }

+export function getTrackerName(l10n: ReactLocalization, info: TrackerInfoT | null) {
+  if (info?.customName) return info?.customName;
+  if (info?.bodyPart) return l10n.getString('body_part-' + BodyPart[info?.bodyPart]);
+  return info?.displayName || 'NONE';
+}
+
 export function useTracker(tracker: TrackerDataT) {
  const { l10n } = useLocalization();
  const { feedMaxTps } = useDataFeedConfig();

  return {
    useName: () =>
-      useMemo(() => {
-        if (tracker.info?.customName) return tracker.info?.customName;
-        if (tracker.info?.bodyPart)
-          return l10n.getString('body_part-' + BodyPart[tracker.info?.bodyPart]);
-        return tracker.info?.displayName || 'NONE';
-      }, [tracker.info]),
+      useMemo(() => getTrackerName(l10n, tracker.info), [tracker.info, l10n]),
    useRawRotationEulerDegrees: () =>
      useMemo(() => QuaternionToEulerDegrees(tracker?.rotation), [tracker.rotation]),
    useRefAdjRotationEulerDegrees: () =>
--- a/gui/src/index.scss
+++ b/gui/src/index.scss
@@ -90,7 +90,7 @@ body {
 }

 :root {
-  overflow: hidden;
+  // overflow: hidden; -- NEVER EVER BRING THIS BACK <3
  background: theme('colors.background.20');

  --navbar-w: 101px;
@@ -388,6 +388,14 @@ body {
  background: theme('colors.background.60');
 }

+.bg-background-60::-webkit-scrollbar-thumb:hover {
+  background: theme('colors.background.40');
+}
+
+.bg-background-60 {
+  scrollbar-color: theme('colors.background.50') transparent;
+}
+
 .dropdown-scroll {
  scrollbar-color: theme('colors.background.40') theme('colors.background.50');
 }
--- a/gui/tailwind.config.ts
+++ b/gui/tailwind.config.ts
@@ -1,5 +1,6 @@
 import plugin from 'tailwindcss/plugin';
 import forms from '@tailwindcss/forms';
+import typography from '@tailwindcss/typography';
 import gradient from 'tailwind-gradient-mask-image';
 import type { Config } from 'tailwindcss';

@@ -150,7 +151,7 @@ const colors = {
    700: '#b3b3b3',
    900: '#d8d8d8',
  },
-  'asexual': {
+  asexual: {
    100: '#000000',
    200: '#A3A3A3',
    300: '#FFFFFF',
@@ -162,9 +163,11 @@ const config = {
  content: ['./src/**/*.{js,jsx,ts,tsx}'],
  theme: {
    screens: {
+      'mobile-settings': { raw: 'not (min-width: 900px)' },
      nsmol: { raw: 'not (min-width: 525px)' },
      smol: '525px',
      mobile: { raw: 'not (min-width: 800px)' },
+      'xs-settings': '900px',
      xs: '800px',
      nsm: { raw: 'not (min-width: 900px)' },
      sm: '900px',
@@ -245,6 +248,7 @@ const config = {
  plugins: [
    forms,
    gradient,
+    typography,
    plugin(function ({ addUtilities }) {
      const textConfig = (fontSize: any, fontWeight: any) => ({
        fontSize,
--- a/gui/vite.config.ts
+++ b/gui/vite.config.ts
@@ -10,7 +10,9 @@ const versionTag = execSync('git --no-pager tag --sort -taggerdate --points-at H
  .split('\n')[0]
  .trim();
 // If not empty then it's not clean
-const gitClean = execSync('git status --porcelain').toString() ? false : true;
+const gitCleanString = execSync('git status --porcelain').toString();
+const gitClean = gitCleanString ? false : true;
+if (!gitClean) console.log('Git is dirty because of:\n' + gitCleanString);

 console.log(`version is ${versionTag || commitHash}${gitClean ? '' : '-dirty'}`);

@@ -21,7 +23,7 @@ export function i18nHotReload(): PluginOption {
    handleHotUpdate({ file, server }) {
      if (file.endsWith('.ftl')) {
        console.log('Fluent files updated');
-        server.ws.send({
+        server.hot.send({
          type: 'custom',
          event: 'locales-update',
        });
--- a/pnpm-lock.yaml
+++ b/pnpm-lock.yaml
--- a/server/android/build.gradle.kts
+++ b/server/android/build.gradle.kts
@@ -57,12 +57,8 @@ tasks.withType<Javadoc> {
 	options.encoding = "UTF-8"
 }

-allprojects {
-	repositories {
-		google()
-		mavenCentral()
-		maven(url = "https://jitpack.io")
-	}
+repositories {
+	google()
 }

 dependencies {
--- a/server/android/src/main/java/dev/slimevr/android/serial/AndroidSerialHandler.kt
+++ b/server/android/src/main/java/dev/slimevr/android/serial/AndroidSerialHandler.kt
@@ -90,10 +90,16 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :
 		listeners.forEach { it.onNewSerialDevice(port) }
 	}

+	private fun onDeviceDel(port: SerialPortWrapper) {
+		listeners.forEach { it.onSerialDeviceDeleted(port) }
+	}
+
 	private fun detectNewPorts() {
-		val differences = knownPorts.asSequence() - lastKnownPorts
+		val addDifferences = knownPorts.asSequence() - lastKnownPorts
+		val delDifferences = lastKnownPorts - knownPorts.asSequence().toSet()
 		lastKnownPorts = knownPorts.asSequence().toSet()
-		differences.forEach { onNewDevice(it) }
+		addDifferences.forEach { onNewDevice(it) }
+		delDifferences.forEach { onDeviceDel(it) }
 	}

 	override fun addListener(channel: SerialListener) {
@@ -226,12 +232,18 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :
 		}
 	}

+	override fun write(buff: ByteArray) {
+		usbIoManager?.writeAsync(buff)
+	}
+
 	@Synchronized
 	override fun setWifi(ssid: String, passwd: String) {
 		writeSerial("SET WIFI \"${ssid}\" \"${passwd}\"")
 		addLog("-> SET WIFI \"$ssid\" \"${passwd.replace(".".toRegex(), "*")}\"\n")
 	}

+	override fun getCurrentPort(): SlimeSerialPort? = this.currentPort
+
 	private fun addLog(str: String) {
 		LogManager.info("[Serial] $str")
 		listeners.forEach { it.onSerialLog(str) }
--- a/server/build.gradle.kts
+++ b/server/build.gradle.kts
@@ -2,8 +2,11 @@ plugins {
 	id("com.diffplug.spotless")
 }

-repositories {
-	mavenCentral()
+allprojects {
+	repositories {
+		mavenCentral()
+		maven("https://jitpack.io")
+	}
 }

 configure<com.diffplug.gradle.spotless.SpotlessExtension> {
@@ -35,7 +38,7 @@ configure<com.diffplug.gradle.spotless.SpotlessExtension> {
 			"ktlint_standard_property-naming" to "disabled",
 			"ij_kotlin_packages_to_use_import_on_demand" to
 				"java.util.*,kotlin.math.*,dev.slimevr.autobone.errors.*" +
-				",io.github.axisangles.ktmath.*,kotlinx.atomicfu.*" +
+				",io.github.axisangles.ktmath.*,kotlinx.atomicfu.*,kotlinx.coroutines.*" +
 				",dev.slimevr.tracking.trackers.*,dev.slimevr.desktop.platform.ProtobufMessages.*" +
 				",solarxr_protocol.rpc.*,kotlinx.coroutines.*,com.illposed.osc.*,android.app.*",
 			"ij_kotlin_allow_trailing_comma" to true,
--- a/server/core/build.gradle.kts
+++ b/server/core/build.gradle.kts
@@ -77,6 +77,12 @@ dependencies {
 	implementation("com.melloware:jintellitype:1.+")
 	implementation("org.jetbrains.kotlinx:kotlinx-serialization-json:1.7.3")
 	implementation("org.jetbrains.kotlinx:kotlinx-coroutines-core:1.8.1")
+	implementation("com.mayakapps.kache:kache:2.1.0")
+
+	api("com.github.loucass003:EspflashKotlin:v0.10.0")
+
+	// Allow the use of reflection
+	implementation(kotlin("reflect"))

 	// Jitpack
 	implementation("com.github.SlimeVR:oscquery-kt:566a0cba58")
@@ -87,6 +93,7 @@ dependencies {
 	testImplementation("org.junit.jupiter:junit-jupiter")
 	testImplementation("org.junit.platform:junit-platform-launcher")
 }
+
 tasks.test {
 	useJUnitPlatform()
 }
--- a/server/core/src/main/java/dev/slimevr/VRServer.kt
+++ b/server/core/src/main/java/dev/slimevr/VRServer.kt
@@ -5,6 +5,8 @@ import dev.slimevr.autobone.AutoBoneHandler
 import dev.slimevr.bridge.Bridge
 import dev.slimevr.bridge.ISteamVRBridge
 import dev.slimevr.config.ConfigManager
+import dev.slimevr.firmware.FirmwareUpdateHandler
+import dev.slimevr.firmware.SerialFlashingHandler
 import dev.slimevr.osc.OSCHandler
 import dev.slimevr.osc.OSCRouter
 import dev.slimevr.osc.VMCHandler
@@ -47,9 +49,12 @@ class VRServer @JvmOverloads constructor(
 	driverBridgeProvider: SteamBridgeProvider = { _, _ -> null },
 	feederBridgeProvider: (VRServer) -> ISteamVRBridge? = { _ -> null },
 	serialHandlerProvider: (VRServer) -> SerialHandler = { _ -> SerialHandlerStub() },
+	flashingHandlerProvider: (VRServer) -> SerialFlashingHandler? = { _ -> null },
 	acquireMulticastLock: () -> Any? = { null },
+	// configPath is used by VRWorkout, do not remove!
 	configPath: String,
 ) : Thread("VRServer") {
+
 	@JvmField
 	val configManager: ConfigManager

@@ -60,6 +65,7 @@ class VRServer @JvmOverloads constructor(
 	private val bridges: MutableList<Bridge> = FastList()
 	private val tasks: Queue<Runnable> = LinkedBlockingQueue()
 	private val newTrackersConsumers: MutableList<Consumer<Tracker>> = FastList()
+	private val trackerStatusListeners: MutableList<TrackerStatusListener> = FastList()
 	private val onTick: MutableList<Runnable> = FastList()
 	private val lock = acquireMulticastLock()
 	val oSCRouter: OSCRouter
@@ -77,6 +83,10 @@ class VRServer @JvmOverloads constructor(
 	@JvmField
 	val serialHandler: SerialHandler

+	var serialFlashingHandler: SerialFlashingHandler?
+
+	val firmwareUpdateHandler: FirmwareUpdateHandler
+
 	@JvmField
 	val autoBoneHandler: AutoBoneHandler

@@ -106,12 +116,14 @@ class VRServer @JvmOverloads constructor(
 		configManager.loadConfig()
 		deviceManager = DeviceManager(this)
 		serialHandler = serialHandlerProvider(this)
+		serialFlashingHandler = flashingHandlerProvider(this)
 		provisioningHandler = ProvisioningHandler(this)
 		resetHandler = ResetHandler()
 		tapSetupHandler = TapSetupHandler()
 		humanPoseManager = HumanPoseManager(this)
 		// AutoBone requires HumanPoseManager first
 		autoBoneHandler = AutoBoneHandler(this)
+		firmwareUpdateHandler = FirmwareUpdateHandler(this)
 		protocolAPI = ProtocolAPI(this)
 		val computedTrackers = humanPoseManager.computedTrackers

@@ -409,6 +421,18 @@ class VRServer @JvmOverloads constructor(
 		}
 	}

+	fun trackerStatusChanged(tracker: Tracker, oldStatus: TrackerStatus, newStatus: TrackerStatus) {
+		trackerStatusListeners.forEach { it.onTrackerStatusChanged(tracker, oldStatus, newStatus) }
+	}
+
+	fun addTrackerStatusListener(listener: TrackerStatusListener) {
+		trackerStatusListeners.add(listener)
+	}
+
+	fun removeTrackerStatusListener(listener: TrackerStatusListener) {
+		trackerStatusListeners.removeIf { listener == it }
+	}
+
 	companion object {
 		private val nextLocalTrackerId = AtomicInteger()
 		lateinit var instance: VRServer
--- a/server/core/src/main/java/dev/slimevr/autobone/AutoBone.kt
+++ b/server/core/src/main/java/dev/slimevr/autobone/AutoBone.kt
@@ -6,6 +6,7 @@ import dev.slimevr.autobone.errors.*
 import dev.slimevr.config.AutoBoneConfig
 import dev.slimevr.poseframeformat.PoseFrameIO
 import dev.slimevr.poseframeformat.PoseFrames
+import dev.slimevr.tracking.processor.BoneType
 import dev.slimevr.tracking.processor.HumanPoseManager
 import dev.slimevr.tracking.processor.config.SkeletonConfigManager
 import dev.slimevr.tracking.processor.config.SkeletonConfigOffsets
@@ -94,38 +95,73 @@ class AutoBone(server: VRServer) {
 		}
 	}

-	fun getBoneDirection(
+	/**
+	 * Computes the local tail position of the bone after rotation.
+	 */
+	fun getBoneLocalTail(
 		skeleton: HumanPoseManager,
-		configOffset: SkeletonConfigOffsets,
-		rightSide: Boolean,
+		boneType: BoneType,
 	): Vector3 {
-		// IMPORTANT: This assumption for acquiring BoneType only works if
-		// SkeletonConfigOffsets is set up to only affect one BoneType, make sure no
-		// changes to SkeletonConfigOffsets goes against this assumption, please!
-		val boneType = when (configOffset) {
-			SkeletonConfigOffsets.HIPS_WIDTH, SkeletonConfigOffsets.SHOULDERS_WIDTH,
-			SkeletonConfigOffsets.SHOULDERS_DISTANCE, SkeletonConfigOffsets.UPPER_ARM,
-			SkeletonConfigOffsets.LOWER_ARM, SkeletonConfigOffsets.UPPER_LEG,
-			SkeletonConfigOffsets.LOWER_LEG, SkeletonConfigOffsets.FOOT_LENGTH,
-			->
-				if (rightSide) configOffset.affectedOffsets[1] else configOffset.affectedOffsets[0]
-
-			else -> configOffset.affectedOffsets[0]
-		}
-		return skeleton.getBone(boneType).getGlobalRotation().toRotationVector()
+		val bone = skeleton.getBone(boneType)
+		return bone.getTailPosition() - bone.getPosition()
 	}

-	fun getDotProductDiff(
+	/**
+	 * Computes the direction of the bone tail's movement between skeletons 1 and 2.
+	 */
+	fun getBoneLocalTailDir(
 		skeleton1: HumanPoseManager,
 		skeleton2: HumanPoseManager,
-		configOffset: SkeletonConfigOffsets,
-		rightSide: Boolean,
-		offset: Vector3,
+		boneType: BoneType,
+	): Vector3? {
+		val boneOff = getBoneLocalTail(skeleton2, boneType) - getBoneLocalTail(skeleton1, boneType)
+		val boneOffLen = boneOff.len()
+		return if (boneOffLen > MIN_SLIDE_DIST) boneOff / boneOffLen else null
+	}
+
+	/**
+	 * Predicts how much the provided config should be affecting the slide offsets
+	 * of the left and right ankles.
+	 */
+	fun getSlideDot(
+		skeleton1: HumanPoseManager,
+		skeleton2: HumanPoseManager,
+		config: SkeletonConfigOffsets,
+		slideL: Vector3?,
+		slideR: Vector3?,
 	): Float {
-		val normalizedOffset = offset.unit()
-		val dot1 = normalizedOffset.dot(getBoneDirection(skeleton1, configOffset, rightSide))
-		val dot2 = normalizedOffset.dot(getBoneDirection(skeleton2, configOffset, rightSide))
-		return dot2 - dot1
+		var slideDot = 0f
+		// Used for right offset if not a symmetric bone
+		var boneOffL: Vector3? = null
+
+		if (slideL != null) {
+			boneOffL = getBoneLocalTailDir(skeleton1, skeleton2, config.affectedOffsets[0])
+
+			if (boneOffL != null) {
+				slideDot += slideL.dot(boneOffL)
+			}
+		}
+
+		if (slideR != null) {
+			// IMPORTANT: This assumption for acquiring BoneType only works if
+			// SkeletonConfigOffsets is set up to only affect one BoneType, make sure no
+			// changes to SkeletonConfigOffsets goes against this assumption, please!
+			val boneOffR = if (SYMM_CONFIGS.contains(config)) {
+				getBoneLocalTailDir(skeleton1, skeleton2, config.affectedOffsets[1])
+			} else if (slideL != null) {
+				// Use cached offset if slideL was used
+				boneOffL
+			} else {
+				// Compute offset if missing because of slideL
+				getBoneLocalTailDir(skeleton1, skeleton2, config.affectedOffsets[0])
+			}
+
+			if (boneOffR != null) {
+				slideDot += slideR.dot(boneOffR)
+			}
+		}
+
+		return slideDot / 2f
 	}

 	fun applyConfig(
@@ -488,13 +524,15 @@ class AutoBone(server: VRServer) {
 			return
 		}

-		val slideLeft = skeleton2
-			.getComputedTracker(TrackerRole.LEFT_FOOT).position -
+		val slideL = skeleton2.getComputedTracker(TrackerRole.LEFT_FOOT).position -
 			skeleton1.getComputedTracker(TrackerRole.LEFT_FOOT).position
+		val slideLLen = slideL.len()
+		val slideLUnit: Vector3? = if (slideLLen > MIN_SLIDE_DIST) slideL / slideLLen else null

-		val slideRight = skeleton2
-			.getComputedTracker(TrackerRole.RIGHT_FOOT).position -
+		val slideR = skeleton2.getComputedTracker(TrackerRole.RIGHT_FOOT).position -
 			skeleton1.getComputedTracker(TrackerRole.RIGHT_FOOT).position
+		val slideRLen = slideR.len()
+		val slideRUnit: Vector3? = if (slideRLen > MIN_SLIDE_DIST) slideR / slideRLen else null

 		val intermediateOffsets = EnumMap(offsets)
 		for (entry in intermediateOffsets.entries) {
@@ -505,28 +543,23 @@ class AutoBone(server: VRServer) {
 			}
 			val originalLength = entry.value

-			val leftDotProduct = getDotProductDiff(
-				skeleton1,
-				skeleton2,
-				entry.key,
-				false,
-				slideLeft,
-			)
-			val rightDotProduct = getDotProductDiff(
-				skeleton1,
-				skeleton2,
-				entry.key,
-				true,
-				slideRight,
-			)
-
 			// Calculate the total effect of the bone based on change in rotation
-			val dotLength = originalLength * ((leftDotProduct + rightDotProduct) / 2f)
+			val slideDot = getSlideDot(
+				skeleton1,
+				skeleton2,
+				entry.key,
+				slideLUnit,
+				slideRUnit,
+			)
+			val dotLength = originalLength * slideDot

 			// Scale by the total effect of the bone
 			val curAdjustVal = adjustVal * -dotLength
-			val newLength = originalLength + curAdjustVal
+			if (curAdjustVal == 0f) {
+				continue
+			}

+			val newLength = originalLength + curAdjustVal
 			// No small or negative numbers!!! Bad algorithm!
 			if (newLength < 0.01f) {
 				continue
@@ -754,6 +787,7 @@ class AutoBone(server: VRServer) {

 	companion object {
 		const val MIN_HEIGHT = 0.4f
+		const val MIN_SLIDE_DIST = 0.002f
 		const val AUTOBONE_FOLDER = "AutoBone Recordings"
 		const val LOADAUTOBONE_FOLDER = "Load AutoBone Recordings"

@@ -773,5 +807,16 @@ class AutoBone(server: VRServer) {
 		private fun errorFunc(errorDeriv: Float): Float = 0.5f * (errorDeriv * errorDeriv)

 		private fun decayFunc(initialAdjustRate: Float, adjustRateDecay: Float, epoch: Int): Float = if (epoch >= 0) initialAdjustRate / (1 + (adjustRateDecay * epoch)) else 0.0f
+
+		private val SYMM_CONFIGS = arrayOf(
+			SkeletonConfigOffsets.HIPS_WIDTH,
+			SkeletonConfigOffsets.SHOULDERS_WIDTH,
+			SkeletonConfigOffsets.SHOULDERS_DISTANCE,
+			SkeletonConfigOffsets.UPPER_ARM,
+			SkeletonConfigOffsets.LOWER_ARM,
+			SkeletonConfigOffsets.UPPER_LEG,
+			SkeletonConfigOffsets.LOWER_LEG,
+			SkeletonConfigOffsets.FOOT_LENGTH,
+		)
 	}
 }
--- a/server/core/src/main/java/dev/slimevr/autobone/errors/PositionError.kt
+++ b/server/core/src/main/java/dev/slimevr/autobone/errors/PositionError.kt
@@ -39,10 +39,14 @@ class PositionError : IAutoBoneError {
 				val position = trackerFrame.tryGetPosition() ?: continue
 				val trackerRole = trackerFrame.tryGetTrackerPosition()?.trackerRole ?: continue

-				val computedTracker = skeleton.getComputedTracker(trackerRole) ?: continue
+				try {
+					val computedTracker = skeleton.getComputedTracker(trackerRole)

-				offset += (position - computedTracker.position).len()
-				offsetCount++
+					offset += (position - computedTracker.position).len()
+					offsetCount++
+				} catch (_: Exception) {
+					// Ignore unsupported positions
+				}
 			}
 			return if (offsetCount > 0) offset / offsetCount else 0f
 		}
--- a/server/core/src/main/java/dev/slimevr/autobone/errors/PositionOffsetError.kt
+++ b/server/core/src/main/java/dev/slimevr/autobone/errors/PositionOffsetError.kt
@@ -37,13 +37,17 @@ class PositionOffsetError : IAutoBoneError {
 			val position2 = trackerFrame2.tryGetPosition() ?: continue
 			val trackerRole2 = trackerFrame2.tryGetTrackerPosition()?.trackerRole ?: continue

-			val computedTracker1 = skeleton1.getComputedTracker(trackerRole1) ?: continue
-			val computedTracker2 = skeleton2.getComputedTracker(trackerRole2) ?: continue
+			try {
+				val computedTracker1 = skeleton1.getComputedTracker(trackerRole1)
+				val computedTracker2 = skeleton2.getComputedTracker(trackerRole2)

-			val dist1 = (position1 - computedTracker1.position).len()
-			val dist2 = (position2 - computedTracker2.position).len()
-			offset += abs(dist2 - dist1)
-			offsetCount++
+				val dist1 = (position1 - computedTracker1.position).len()
+				val dist2 = (position2 - computedTracker2.position).len()
+				offset += abs(dist2 - dist1)
+				offsetCount++
+			} catch (_: Exception) {
+				// Ignore unsupported positions
+			}
 		}
 		return if (offsetCount > 0) offset / offsetCount else 0f
 	}
--- a/server/core/src/main/java/dev/slimevr/config/AutoBoneConfig.kt
+++ b/server/core/src/main/java/dev/slimevr/config/AutoBoneConfig.kt
@@ -4,14 +4,14 @@ class AutoBoneConfig {
 	var cursorIncrement = 2
 	var minDataDistance = 1
 	var maxDataDistance = 1
-	var numEpochs = 100
+	var numEpochs = 50
 	var printEveryNumEpochs = 25
 	var initialAdjustRate = 10.0f
 	var adjustRateDecay = 1.0f
-	var slideErrorFactor = 0.0f
-	var offsetSlideErrorFactor = 1.0f
+	var slideErrorFactor = 1.0f
+	var offsetSlideErrorFactor = 0.0f
 	var footHeightOffsetErrorFactor = 0.0f
-	var bodyProportionErrorFactor = 0.25f
+	var bodyProportionErrorFactor = 0.05f
 	var heightErrorFactor = 0.0f
 	var positionErrorFactor = 0.0f
 	var positionOffsetErrorFactor = 0.0f
--- a/server/core/src/main/java/dev/slimevr/config/CurrentVRConfigConverter.java
+++ b/server/core/src/main/java/dev/slimevr/config/CurrentVRConfigConverter.java
@@ -304,6 +304,32 @@ public class CurrentVRConfigConverter implements VersionedModelConverter {
 					}
 				}
 			}
+
+			if (version < 14) {
+				// Update AutoBone defaults
+				ObjectNode autoBoneNode = (ObjectNode) modelData.get("autoBone");
+				if (autoBoneNode != null) {
+					JsonNode offsetSlideNode = autoBoneNode.get("offsetSlideErrorFactor");
+					JsonNode slideNode = autoBoneNode.get("slideErrorFactor");
+					if (
+						offsetSlideNode != null
+							&& slideNode != null
+							&& offsetSlideNode.floatValue() == 1.0f
+							&& slideNode.floatValue() == 0.0f
+					) {
+						autoBoneNode.set("offsetSlideErrorFactor", new FloatNode(0.0f));
+						autoBoneNode.set("slideErrorFactor", new FloatNode(1.0f));
+					}
+					JsonNode bodyProportionsNode = autoBoneNode.get("bodyProportionErrorFactor");
+					if (bodyProportionsNode != null && bodyProportionsNode.floatValue() == 0.25f) {
+						autoBoneNode.set("bodyProportionErrorFactor", new FloatNode(0.05f));
+					}
+					JsonNode numEpochsNode = autoBoneNode.get("numEpochs");
+					if (numEpochsNode != null && numEpochsNode.intValue() == 100) {
+						autoBoneNode.set("numEpochs", new IntNode(50));
+					}
+				}
+			}
 		} catch (Exception e) {
 			LogManager.severe("Error during config migration: " + e);
 		}
--- a/server/core/src/main/java/dev/slimevr/config/VRConfig.kt
+++ b/server/core/src/main/java/dev/slimevr/config/VRConfig.kt
@@ -10,8 +10,8 @@ import dev.slimevr.tracking.trackers.Tracker
 import dev.slimevr.tracking.trackers.TrackerRole

@JsonVersionedModel(
-	currentVersion = "13",
-	defaultDeserializeToVersion = "13",
+	currentVersion = "14",
+	defaultDeserializeToVersion = "14",
 	toCurrentConverterClass = CurrentVRConfigConverter::class,
 )
 class VRConfig {
--- a/server/core/src/main/java/dev/slimevr/filtering/QuaternionMovingAverage.kt
+++ b/server/core/src/main/java/dev/slimevr/filtering/QuaternionMovingAverage.kt
@@ -23,7 +23,7 @@ class QuaternionMovingAverage(
 ) {
 	private var smoothFactor = 0f
 	private var predictFactor = 0f
-	private lateinit var rotBuffer: CircularArrayList<Quaternion>
+	private var rotBuffer: CircularArrayList<Quaternion>? = null
 	private var latestQuaternion = IDENTITY
 	private var smoothingQuaternion = IDENTITY
 	private val fpsTimer = if (VRServer.instanceInitialized) VRServer.instance.fpsTimer else NanoTimer()
@@ -57,11 +57,11 @@ class QuaternionMovingAverage(
 	@Synchronized
 	fun update() {
 		if (type == TrackerFilters.PREDICTION) {
-			if (rotBuffer.size > 0) {
+			if (rotBuffer!!.size > 0) {
 				var quatBuf = latestQuaternion

 				// Applies the past rotations to the current rotation
-				rotBuffer.forEach { quatBuf *= it }
+				rotBuffer?.forEach { quatBuf *= it }

 				// Calculate how much to slerp
 				val amt = predictFactor * fpsTimer.timePerFrame
@@ -98,12 +98,12 @@ class QuaternionMovingAverage(
 	@Synchronized
 	fun addQuaternion(q: Quaternion) {
 		if (type == TrackerFilters.PREDICTION) {
-			if (rotBuffer.size == rotBuffer.capacity()) {
-				rotBuffer.removeLast()
+			if (rotBuffer!!.size == rotBuffer!!.capacity()) {
+				rotBuffer?.removeLast()
 			}

 			// Gets and stores the rotation between the last 2 quaternions
-			rotBuffer.add(latestQuaternion.inv().times(q))
+			rotBuffer?.add(latestQuaternion.inv().times(q))
 		} else if (type == TrackerFilters.SMOOTHING) {
 			frameCounter = 0
 			lastAmt = 0f
@@ -116,8 +116,11 @@ class QuaternionMovingAverage(
 	}

 	fun resetQuats(q: Quaternion) {
+		if (type == TrackerFilters.PREDICTION) {
+			rotBuffer?.clear()
+			latestQuaternion = q
+		}
 		filteredQuaternion = q
-		latestQuaternion = q
-		smoothingQuaternion = q
+		addQuaternion(q)
 	}
 }
--- a/server/core/src/main/java/dev/slimevr/firmware/FirmwareUpdateHandler.kt
+++ b/server/core/src/main/java/dev/slimevr/firmware/FirmwareUpdateHandler.kt
@@ -0,0 +1,498 @@
+package dev.slimevr.firmware
+
+import com.mayakapps.kache.InMemoryKache
+import com.mayakapps.kache.KacheStrategy
+import dev.llelievr.espflashkotlin.Flasher
+import dev.llelievr.espflashkotlin.FlashingProgressListener
+import dev.slimevr.VRServer
+import dev.slimevr.serial.ProvisioningListener
+import dev.slimevr.serial.ProvisioningStatus
+import dev.slimevr.serial.SerialPort
+import dev.slimevr.tracking.trackers.Tracker
+import dev.slimevr.tracking.trackers.TrackerStatus
+import dev.slimevr.tracking.trackers.TrackerStatusListener
+import dev.slimevr.tracking.trackers.udp.UDPDevice
+import io.eiren.util.logging.LogManager
+import kotlinx.coroutines.*
+import solarxr_protocol.rpc.FirmwarePartT
+import solarxr_protocol.rpc.FirmwareUpdateRequestT
+import java.io.ByteArrayOutputStream
+import java.io.IOException
+import java.io.InputStream
+import java.net.URL
+import java.util.*
+import java.util.concurrent.ConcurrentHashMap
+import java.util.concurrent.CopyOnWriteArrayList
+import kotlin.concurrent.scheduleAtFixedRate
+
+data class DownloadedFirmwarePart(
+	val firmware: ByteArray,
+	val offset: Long?,
+) {
+	override fun equals(other: Any?): Boolean {
+		if (this === other) return true
+		if (javaClass != other?.javaClass) return false
+
+		other as DownloadedFirmwarePart
+
+		if (!firmware.contentEquals(other.firmware)) return false
+		if (offset != other.offset) return false
+
+		return true
+	}
+
+	override fun hashCode(): Int {
+		var result = firmware.contentHashCode()
+		result = 31 * result + (offset?.hashCode() ?: 0)
+		return result
+	}
+}
+
+class FirmwareUpdateHandler(private val server: VRServer) :
+	TrackerStatusListener,
+	ProvisioningListener,
+	SerialRebootListener {
+
+	private val updateTickTimer = Timer("StatusUpdateTimer")
+	private val runningJobs: MutableList<Job> = CopyOnWriteArrayList()
+	private val watchRestartQueue: MutableList<Pair<UpdateDeviceId<*>, () -> Unit>> =
+		CopyOnWriteArrayList()
+	private val updatingDevicesStatus: MutableMap<UpdateDeviceId<*>, UpdateStatusEvent<*>> =
+		ConcurrentHashMap()
+	private val listeners: MutableList<FirmwareUpdateListener> = CopyOnWriteArrayList()
+	private val firmwareCache =
+		InMemoryKache<String, Array<DownloadedFirmwarePart>>(maxSize = 5 * 1024 * 1024) {
+			strategy = KacheStrategy.LRU
+			sizeCalculator = { _, parts -> parts.sumOf { it.firmware.size }.toLong() }
+		}
+	private val mainScope: CoroutineScope = CoroutineScope(SupervisorJob())
+	private var clearJob: Deferred<Unit>? = null
+
+	private var serialRebootHandler: SerialRebootHandler = SerialRebootHandler(watchRestartQueue, server, this)
+
+	fun addListener(channel: FirmwareUpdateListener) {
+		listeners.add(channel)
+	}
+
+	fun removeListener(channel: FirmwareUpdateListener) {
+		listeners.removeIf { channel == it }
+	}
+
+	init {
+		server.addTrackerStatusListener(this)
+		server.provisioningHandler.addListener(this)
+		server.serialHandler.addListener(serialRebootHandler)
+
+		this.updateTickTimer.scheduleAtFixedRate(0, 1000) {
+			checkUpdateTimeout()
+		}
+	}
+
+	private fun startOtaUpdate(
+		part: DownloadedFirmwarePart,
+		deviceId: UpdateDeviceId<Int>,
+	) {
+		val udpDevice: UDPDevice? =
+			(this.server.deviceManager.devices.find { device -> device is UDPDevice && device.id == deviceId.id }) as UDPDevice?
+
+		if (udpDevice == null) {
+			onStatusChange(
+				UpdateStatusEvent(
+					deviceId,
+					FirmwareUpdateStatus.ERROR_DEVICE_NOT_FOUND,
+				),
+			)
+			return
+		}
+		OTAUpdateTask(
+			part.firmware,
+			deviceId,
+			udpDevice.ipAddress,
+			this::onStatusChange,
+		).run()
+	}
+
+	private fun startSerialUpdate(
+		firmwares: Array<DownloadedFirmwarePart>,
+		deviceId: UpdateDeviceId<String>,
+		needManualReboot: Boolean,
+		ssid: String,
+		password: String,
+	) {
+		val serialPort = this.server.serialHandler.knownPorts.toList()
+			.find { port -> deviceId.id == port.portLocation }
+
+		if (serialPort == null) {
+			onStatusChange(
+				UpdateStatusEvent(
+					deviceId,
+					FirmwareUpdateStatus.ERROR_DEVICE_NOT_FOUND,
+				),
+			)
+			return
+		}
+
+		val flashingHandler = this.server.serialFlashingHandler
+
+		if (flashingHandler == null) {
+			onStatusChange(
+				UpdateStatusEvent(
+					deviceId,
+					FirmwareUpdateStatus.ERROR_UNSUPPORTED_METHOD,
+				),
+			)
+			return
+		}
+
+		try {
+			val flasher = Flasher(flashingHandler)
+
+			for (part in firmwares) {
+				if (part.offset == null) {
+					error("Offset is empty")
+				}
+				flasher.addBin(part.firmware, part.offset.toInt())
+			}
+
+			flasher.addProgressListener(object : FlashingProgressListener {
+				override fun progress(progress: Float) {
+					onStatusChange(
+						UpdateStatusEvent(
+							deviceId,
+							FirmwareUpdateStatus.UPLOADING,
+							(progress * 100).toInt(),
+						),
+					)
+				}
+			})
+
+			onStatusChange(
+				UpdateStatusEvent(
+					deviceId,
+					FirmwareUpdateStatus.SYNCING_WITH_MCU,
+				),
+			)
+			flasher.flash(serialPort)
+			if (needManualReboot) {
+				if (watchRestartQueue.find { it.first == deviceId } != null) {
+					LogManager.info("[FirmwareUpdateHandler] Device is already updating, skipping")
+				}
+
+				onStatusChange(UpdateStatusEvent(deviceId, FirmwareUpdateStatus.NEED_MANUAL_REBOOT))
+				server.serialHandler.openSerial(deviceId.id, false)
+				watchRestartQueue.add(
+					Pair(deviceId) {
+						onStatusChange(
+							UpdateStatusEvent(
+								deviceId,
+								FirmwareUpdateStatus.REBOOTING,
+							),
+						)
+						server.provisioningHandler.start(
+							ssid,
+							password,
+							serialPort.portLocation,
+						)
+					},
+				)
+			} else {
+				onStatusChange(UpdateStatusEvent(deviceId, FirmwareUpdateStatus.REBOOTING))
+				server.provisioningHandler.start(ssid, password, serialPort.portLocation)
+			}
+		} catch (e: Exception) {
+			LogManager.severe("[FirmwareUpdateHandler] Upload failed", e)
+			onStatusChange(
+				UpdateStatusEvent(
+					deviceId,
+					FirmwareUpdateStatus.ERROR_UPLOAD_FAILED,
+				),
+			)
+		}
+	}
+
+	fun queueFirmwareUpdate(
+		request: FirmwareUpdateRequestT,
+		deviceId: UpdateDeviceId<*>,
+	) = mainScope.launch {
+		val method = FirmwareUpdateMethod.getById(request.method.type) ?: error("Unknown method")
+
+		clearJob?.await()
+		if (method == FirmwareUpdateMethod.OTA) {
+			if (watchRestartQueue.find { it.first == deviceId } != null) {
+				LogManager.info("[FirmwareUpdateHandler] Device is already updating, skipping")
+			}
+
+			onStatusChange(
+				UpdateStatusEvent(
+					deviceId,
+					FirmwareUpdateStatus.NEED_MANUAL_REBOOT,
+				),
+			)
+			watchRestartQueue.add(
+				Pair(deviceId) {
+					mainScope.launch {
+						startFirmwareUpdateJob(
+							request,
+							deviceId,
+						)
+					}
+				},
+			)
+		} else {
+			if (updatingDevicesStatus[deviceId] != null) {
+				LogManager.info("[FirmwareUpdateHandler] Device is already updating, skipping")
+				return@launch
+			}
+
+			startFirmwareUpdateJob(
+				request,
+				deviceId,
+			)
+		}
+	}
+
+	fun cancelUpdates() {
+		val oldClearJob = clearJob
+		clearJob = mainScope.async {
+			oldClearJob?.await()
+			watchRestartQueue.clear()
+			runningJobs.forEach { it.cancelAndJoin() }
+			runningJobs.clear()
+		}
+	}
+
+	private fun getFirmwareParts(request: FirmwareUpdateRequestT): ArrayList<FirmwarePartT> {
+		val parts = ArrayList<FirmwarePartT>()
+		val method = FirmwareUpdateMethod.getById(request.method.type) ?: error("Unknown method")
+		when (method) {
+			FirmwareUpdateMethod.OTA -> {
+				val updateReq = request.method.asOTAFirmwareUpdate()
+				parts.add(updateReq.firmwarePart)
+			}
+
+			FirmwareUpdateMethod.SERIAL -> {
+				val updateReq = request.method.asSerialFirmwareUpdate()
+				parts.addAll(updateReq.firmwarePart)
+			}
+
+			FirmwareUpdateMethod.NONE -> error("Method should not be NONE")
+		}
+		return parts
+	}
+
+	private suspend fun startFirmwareUpdateJob(
+		request: FirmwareUpdateRequestT,
+		deviceId: UpdateDeviceId<*>,
+	) = coroutineScope {
+		onStatusChange(
+			UpdateStatusEvent(
+				deviceId,
+				FirmwareUpdateStatus.DOWNLOADING,
+			),
+		)
+
+		try {
+			// We add the firmware to an LRU cache
+			val toDownloadParts = getFirmwareParts(request)
+			val firmwareParts =
+				firmwareCache.getOrPut(toDownloadParts.joinToString("|") { "${it.url}#${it.offset}" }) {
+					withTimeoutOrNull(30_000) {
+						toDownloadParts.map {
+							val firmware = downloadFirmware(it.url)
+								?: error("unable to download firmware part")
+							DownloadedFirmwarePart(
+								firmware,
+								it.offset,
+							)
+						}.toTypedArray()
+					}
+				}
+
+			val job = launch {
+				withTimeout(2 * 60 * 1000) {
+					if (firmwareParts.isNullOrEmpty()) {
+						onStatusChange(
+							UpdateStatusEvent(
+								deviceId,
+								FirmwareUpdateStatus.ERROR_DOWNLOAD_FAILED,
+							),
+						)
+						return@withTimeout
+					}
+
+					val method = FirmwareUpdateMethod.getById(request.method.type) ?: error("Unknown method")
+					when (method) {
+						FirmwareUpdateMethod.NONE -> error("unsupported method")
+
+						FirmwareUpdateMethod.OTA -> {
+							if (deviceId.id !is Int) {
+								error("invalid state, the device id is not an int")
+							}
+							if (firmwareParts.size > 1) {
+								error("invalid state, ota only use one firmware file")
+							}
+							startOtaUpdate(
+								firmwareParts.first(),
+								UpdateDeviceId(
+									FirmwareUpdateMethod.OTA,
+									deviceId.id,
+								),
+							)
+						}
+
+						FirmwareUpdateMethod.SERIAL -> {
+							val req = request.method.asSerialFirmwareUpdate()
+							if (deviceId.id !is String) {
+								error("invalid state, the device id is not a string")
+							}
+							startSerialUpdate(
+								firmwareParts,
+								UpdateDeviceId(
+									FirmwareUpdateMethod.SERIAL,
+									deviceId.id,
+								),
+								req.needManualReboot,
+								req.ssid,
+								req.password,
+							)
+						}
+					}
+				}
+			}
+			runningJobs.add(job)
+		} catch (e: Exception) {
+			onStatusChange(
+				UpdateStatusEvent(
+					deviceId,
+					if (e is TimeoutCancellationException) FirmwareUpdateStatus.ERROR_TIMEOUT else FirmwareUpdateStatus.ERROR_UNKNOWN,
+				),
+			)
+			if (e !is TimeoutCancellationException) {
+				LogManager.severe("[FirmwareUpdateHandler] Update process timed out", e)
+				e.printStackTrace()
+			}
+			return@coroutineScope
+		}
+	}
+
+	private fun <T> onStatusChange(event: UpdateStatusEvent<T>) {
+		this.updatingDevicesStatus[event.deviceId] = event
+
+		if (event.status == FirmwareUpdateStatus.DONE || event.status.isError()) {
+			this.updatingDevicesStatus.remove(event.deviceId)
+
+			// we remove the device from the restart queue
+			val queuedDevice = watchRestartQueue.find { it.first.id == event.deviceId }
+			if (queuedDevice != null) {
+				watchRestartQueue.remove(queuedDevice)
+				if (event.deviceId.type == FirmwareUpdateMethod.SERIAL && server.serialHandler.isConnected) {
+					server.serialHandler.closeSerial()
+				}
+			}
+
+			// We make sure to stop the provisioning routine if the tracker is done
+			// flashing
+			if (event.deviceId.type == FirmwareUpdateMethod.SERIAL) {
+				this.server.provisioningHandler.stop()
+			}
+		}
+		listeners.forEach { l -> l.onUpdateStatusChange(event) }
+	}
+
+	private fun checkUpdateTimeout() {
+		updatingDevicesStatus.forEach { (id, device) ->
+			// if more than 30s between two events, consider the update as stuck
+			// We do not timeout on the Downloading step as it has it own timeout
+			// We do not timeout on the Done step as it is the end of the update process
+			if (!device.status.isError() &&
+				!intArrayOf(FirmwareUpdateStatus.DONE.id, FirmwareUpdateStatus.DOWNLOADING.id).contains(device.status.id) &&
+				System.currentTimeMillis() - device.time > 30 * 1000
+			) {
+				onStatusChange(
+					UpdateStatusEvent(
+						id,
+						FirmwareUpdateStatus.ERROR_TIMEOUT,
+					),
+				)
+			}
+		}
+	}
+
+	// this only works for OTA trackers as the device id
+	// only exists when the usb connection is created
+	override fun onTrackerStatusChanged(
+		tracker: Tracker,
+		oldStatus: TrackerStatus,
+		newStatus: TrackerStatus,
+	) {
+		val device = tracker.device
+		if (device !is UDPDevice) return
+
+		if (oldStatus == TrackerStatus.DISCONNECTED && newStatus == TrackerStatus.OK) {
+			val queuedDevice = watchRestartQueue.find { it.first.id == device.id }
+
+			if (queuedDevice != null) {
+				queuedDevice.second() // we start the queued update task
+				watchRestartQueue.remove(queuedDevice) // then we remove it from the queue
+				return
+			}
+
+			// We can only filter OTA method here as the device id is only provided when using Wi-Fi
+			val deviceStatusKey =
+				updatingDevicesStatus.keys.find { it.type == FirmwareUpdateMethod.OTA && it.id == device.id }
+					?: return
+			val updateStatus = updatingDevicesStatus[deviceStatusKey] ?: return
+			// We check for the reconnection of the tracker, once the tracker reconnected we notify the user that the update is completed
+			if (updateStatus.status == FirmwareUpdateStatus.REBOOTING) {
+				onStatusChange(
+					UpdateStatusEvent(
+						updateStatus.deviceId,
+						FirmwareUpdateStatus.DONE,
+					),
+				)
+			}
+		}
+	}
+
+	override fun onProvisioningStatusChange(
+		status: ProvisioningStatus,
+		port: SerialPort?,
+	) {
+		fun update(s: FirmwareUpdateStatus) {
+			val deviceStatusKey =
+				updatingDevicesStatus.keys.find { it.type == FirmwareUpdateMethod.SERIAL && it.id == port?.portLocation }
+					?: return
+			val updateStatus = updatingDevicesStatus[deviceStatusKey] ?: return
+			onStatusChange(UpdateStatusEvent(updateStatus.deviceId, s))
+		}
+
+		when (status) {
+			ProvisioningStatus.PROVISIONING -> update(FirmwareUpdateStatus.PROVISIONING)
+			ProvisioningStatus.DONE -> update(FirmwareUpdateStatus.DONE)
+			ProvisioningStatus.CONNECTION_ERROR, ProvisioningStatus.COULD_NOT_FIND_SERVER -> update(FirmwareUpdateStatus.ERROR_PROVISIONING_FAILED)
+			else -> {}
+		}
+	}
+
+	override fun onSerialDeviceReconnect(deviceHandle: Pair<UpdateDeviceId<*>, () -> Unit>) {
+		deviceHandle.second()
+		watchRestartQueue.remove(deviceHandle)
+	}
+}
+
+fun downloadFirmware(url: String): ByteArray? {
+	val outputStream = ByteArrayOutputStream()
+
+	try {
+		val chunk = ByteArray(4096)
+		var bytesRead: Int
+		val stream: InputStream = URL(url).openStream()
+		while (stream.read(chunk).also { bytesRead = it } > 0) {
+			outputStream.write(chunk, 0, bytesRead)
+		}
+	} catch (e: IOException) {
+		error("Cant download firmware $url")
+	}
+
+	return outputStream.toByteArray()
+}
--- a/server/core/src/main/java/dev/slimevr/firmware/FirmwareUpdateListener.kt
+++ b/server/core/src/main/java/dev/slimevr/firmware/FirmwareUpdateListener.kt
@@ -0,0 +1,5 @@
+package dev.slimevr.firmware
+
+interface FirmwareUpdateListener {
+	fun onUpdateStatusChange(event: UpdateStatusEvent<*>)
+}
--- a/server/core/src/main/java/dev/slimevr/firmware/FirmwareUpdateMethod.kt
+++ b/server/core/src/main/java/dev/slimevr/firmware/FirmwareUpdateMethod.kt
@@ -0,0 +1,14 @@
+package dev.slimevr.firmware
+
+enum class FirmwareUpdateMethod(val id: Byte) {
+	NONE(solarxr_protocol.rpc.FirmwareUpdateMethod.NONE),
+	OTA(solarxr_protocol.rpc.FirmwareUpdateMethod.OTAFirmwareUpdate),
+	SERIAL(solarxr_protocol.rpc.FirmwareUpdateMethod.SerialFirmwareUpdate),
+	;
+
+	companion object {
+		fun getById(id: Byte): FirmwareUpdateMethod? = byId[id]
+	}
+}
+
+private val byId = FirmwareUpdateMethod.entries.associateBy { it.id }
--- a/server/core/src/main/java/dev/slimevr/firmware/FirmwareUpdateStatus.kt
+++ b/server/core/src/main/java/dev/slimevr/firmware/FirmwareUpdateStatus.kt
@@ -0,0 +1,29 @@
+package dev.slimevr.firmware
+
+enum class FirmwareUpdateStatus(val id: Int) {
+	DOWNLOADING(solarxr_protocol.rpc.FirmwareUpdateStatus.DOWNLOADING),
+	AUTHENTICATING(solarxr_protocol.rpc.FirmwareUpdateStatus.AUTHENTICATING),
+	UPLOADING(solarxr_protocol.rpc.FirmwareUpdateStatus.UPLOADING),
+	SYNCING_WITH_MCU(solarxr_protocol.rpc.FirmwareUpdateStatus.SYNCING_WITH_MCU),
+	REBOOTING(solarxr_protocol.rpc.FirmwareUpdateStatus.REBOOTING),
+	NEED_MANUAL_REBOOT(solarxr_protocol.rpc.FirmwareUpdateStatus.NEED_MANUAL_REBOOT),
+	PROVISIONING(solarxr_protocol.rpc.FirmwareUpdateStatus.PROVISIONING),
+	DONE(solarxr_protocol.rpc.FirmwareUpdateStatus.DONE),
+	ERROR_DEVICE_NOT_FOUND(solarxr_protocol.rpc.FirmwareUpdateStatus.ERROR_DEVICE_NOT_FOUND),
+	ERROR_TIMEOUT(solarxr_protocol.rpc.FirmwareUpdateStatus.ERROR_TIMEOUT),
+	ERROR_DOWNLOAD_FAILED(solarxr_protocol.rpc.FirmwareUpdateStatus.ERROR_DOWNLOAD_FAILED),
+	ERROR_AUTHENTICATION_FAILED(solarxr_protocol.rpc.FirmwareUpdateStatus.ERROR_AUTHENTICATION_FAILED),
+	ERROR_UPLOAD_FAILED(solarxr_protocol.rpc.FirmwareUpdateStatus.ERROR_UPLOAD_FAILED),
+	ERROR_PROVISIONING_FAILED(solarxr_protocol.rpc.FirmwareUpdateStatus.ERROR_PROVISIONING_FAILED),
+	ERROR_UNSUPPORTED_METHOD(solarxr_protocol.rpc.FirmwareUpdateStatus.ERROR_UNSUPPORTED_METHOD),
+	ERROR_UNKNOWN(solarxr_protocol.rpc.FirmwareUpdateStatus.ERROR_UNKNOWN),
+	;
+
+	fun isError(): Boolean = id in ERROR_DEVICE_NOT_FOUND.id..ERROR_UNKNOWN.id
+
+	companion object {
+		fun getById(id: Int): FirmwareUpdateStatus? = byId[id]
+	}
+}
+
+private val byId = FirmwareUpdateStatus.entries.associateBy { it.id }
--- a/server/core/src/main/java/dev/slimevr/firmware/OTAUpdateTask.kt
+++ b/server/core/src/main/java/dev/slimevr/firmware/OTAUpdateTask.kt
@@ -0,0 +1,181 @@
+package dev.slimevr.firmware
+
+import io.eiren.util.logging.LogManager
+import java.io.DataInputStream
+import java.io.DataOutputStream
+import java.net.DatagramPacket
+import java.net.DatagramSocket
+import java.net.InetAddress
+import java.net.ServerSocket
+import java.security.MessageDigest
+import java.security.NoSuchAlgorithmException
+import java.util.*
+import java.util.function.Consumer
+import kotlin.math.min
+
+class OTAUpdateTask(
+	private val firmware: ByteArray,
+	private val deviceId: UpdateDeviceId<Int>,
+	private val deviceIp: InetAddress,
+	private val statusCallback: Consumer<UpdateStatusEvent<Int>>,
+) {
+	private val receiveBuffer: ByteArray = ByteArray(38)
+
+	@Throws(NoSuchAlgorithmException::class)
+	private fun bytesToMd5(bytes: ByteArray): String {
+		val md5 = MessageDigest.getInstance("MD5")
+		md5.update(bytes)
+		val digest = md5.digest()
+		val md5str = StringBuilder()
+		for (b in digest) {
+			md5str.append(String.format("%02x", b))
+		}
+		return md5str.toString()
+	}
+
+	private fun authenticate(localPort: Int): Boolean {
+		try {
+			DatagramSocket().use { socket ->
+				statusCallback.accept(UpdateStatusEvent(deviceId, FirmwareUpdateStatus.AUTHENTICATING))
+				LogManager.info("[OTAUpdate] Sending OTA invitation to: $deviceIp")
+
+				val fileMd5 = bytesToMd5(firmware)
+				val message = "$FLASH $localPort ${firmware.size} $fileMd5\n"
+
+				socket.send(DatagramPacket(message.toByteArray(), message.length, deviceIp, PORT))
+				socket.soTimeout = 10000
+
+				val authPacket = DatagramPacket(receiveBuffer, receiveBuffer.size)
+				socket.receive(authPacket)
+
+				val data = String(authPacket.data, 0, authPacket.length)
+
+				// if we received OK directly from the MCU, we do not need to authenticate
+				if (data == "OK") return true
+
+				val args = data.split(" ")
+
+				// The expected auth payload should look like "AUTH AUTH_TOKEN"
+				// if we have less than those two args it means that we are in an invalid state
+				if (args.size != 2 || args[0] != "AUTH") return false
+
+				LogManager.info("[OTAUpdate] Authenticating...")
+
+				val authToken = args[1]
+				val signature = bytesToMd5(UUID.randomUUID().toString().toByteArray())
+				val hashedPassword = bytesToMd5(PASSWORD.toByteArray())
+				val resultText = "$hashedPassword:$authToken:$signature"
+				val payload = bytesToMd5(resultText.toByteArray())
+
+				val authMessage = "$AUTH $signature $payload\n"
+
+				socket.soTimeout = 10000
+				socket.send(
+					DatagramPacket(
+						authMessage.toByteArray(),
+						authMessage.length,
+						deviceIp,
+						PORT,
+					),
+				)
+
+				val authResponsePacket = DatagramPacket(receiveBuffer, receiveBuffer.size)
+				socket.receive(authResponsePacket)
+
+				val authResponse = String(authResponsePacket.data, 0, authResponsePacket.length)
+
+				return authResponse == "OK"
+			}
+		} catch (e: Exception) {
+			LogManager.severe("OTA Authentication exception", e)
+			return false
+		}
+	}
+
+	private fun upload(serverSocket: ServerSocket): Boolean {
+		try {
+			LogManager.info("[OTAUpdate] Starting on: ${serverSocket.localPort}")
+			LogManager.info("[OTAUpdate] Waiting for device...")
+
+			val connection = serverSocket.accept()
+			connection.setSoTimeout(1000)
+
+			val dos = DataOutputStream(connection.getOutputStream())
+			val dis = DataInputStream(connection.getInputStream())
+
+			LogManager.info("[OTAUpdate] Upload size: ${firmware.size} bytes")
+			var offset = 0
+			val chunkSize = 2048
+			while (offset != firmware.size) {
+				statusCallback.accept(
+					UpdateStatusEvent(
+						deviceId,
+						FirmwareUpdateStatus.UPLOADING,
+						((offset.toDouble() / firmware.size) * 100).toInt(),
+					),
+				)
+
+				val chunkLen = min(chunkSize, (firmware.size - offset))
+				dos.write(firmware, offset, chunkLen)
+				dos.flush()
+				offset += chunkLen
+
+				// Those skipped bytes are the size written to the MCU. We do not really need that information,
+				// so we simply skip it.
+				// The reason those bytes are skipped here is to not have to skip all of them when checking
+				// for the OK response. Saving time
+				dis.skipNBytes(4)
+			}
+
+			LogManager.info("[OTAUpdate] Waiting for result...")
+			// We set the timeout of the connection bigger as it can take some time for the MCU
+			// to confirm that everything is ok
+			connection.setSoTimeout(10000)
+			val responseBytes = dis.readAllBytes()
+			val response = String(responseBytes)
+
+			return response.contains("OK")
+		} catch (e: Exception) {
+			LogManager.severe("Unable to upload the firmware using ota", e)
+			return false
+		}
+	}
+
+	fun run() {
+		ServerSocket(0).use { serverSocket ->
+			if (!authenticate(serverSocket.localPort)) {
+				statusCallback.accept(
+					UpdateStatusEvent(
+						deviceId,
+						FirmwareUpdateStatus.ERROR_AUTHENTICATION_FAILED,
+					),
+				)
+				return
+			}
+
+			if (!upload(serverSocket)) {
+				statusCallback.accept(
+					UpdateStatusEvent(
+						deviceId,
+						FirmwareUpdateStatus.ERROR_UPLOAD_FAILED,
+					),
+				)
+				return
+			}
+
+			statusCallback.accept(
+				UpdateStatusEvent(
+					deviceId,
+					FirmwareUpdateStatus.REBOOTING,
+				),
+			)
+		}
+	}
+
+	companion object {
+		private const val FLASH = 0
+		private const val PORT = 8266
+		private const val PASSWORD = "SlimeVR-OTA"
+		private const val AUTH = 200
+	}
+}
--- a/server/core/src/main/java/dev/slimevr/firmware/SerialFlashingHandler.kt
+++ b/server/core/src/main/java/dev/slimevr/firmware/SerialFlashingHandler.kt
@@ -0,0 +1,5 @@
+package dev.slimevr.firmware
+
+import dev.llelievr.espflashkotlin.FlasherSerialInterface
+
+interface SerialFlashingHandler : FlasherSerialInterface
--- a/server/core/src/main/java/dev/slimevr/firmware/SerialRebootHandler.kt
+++ b/server/core/src/main/java/dev/slimevr/firmware/SerialRebootHandler.kt
@@ -0,0 +1,66 @@
+package dev.slimevr.firmware
+
+import dev.slimevr.VRServer
+import dev.slimevr.serial.SerialListener
+import dev.slimevr.serial.SerialPort
+import java.util.concurrent.CopyOnWriteArrayList
+
+interface SerialRebootListener {
+	fun onSerialDeviceReconnect(deviceHandle: Pair<UpdateDeviceId<*>, () -> Unit>)
+}
+
+/**
+ * This class watch for a serial device to disconnect then reconnect.
+ * This is used to watch the user progress through the firmware update process
+ */
+class SerialRebootHandler(
+	private val watchRestartQueue: MutableList<Pair<UpdateDeviceId<*>, () -> Unit>>,
+	private val server: VRServer,
+	// Could be moved to a list of listeners later
+	private val serialRebootListener: SerialRebootListener,
+) : SerialListener {
+
+	private var currentPort: SerialPort? = null
+	private val disconnectedDevices: MutableList<SerialPort> = CopyOnWriteArrayList()
+
+	override fun onSerialConnected(port: SerialPort) {
+		currentPort = port
+	}
+
+	override fun onSerialDisconnected() {
+		currentPort = null
+	}
+
+	override fun onSerialLog(str: String) {
+		if (str.contains("starting up...")) {
+			val foundPort = watchRestartQueue.find { it.first.id == currentPort?.portLocation }
+			if (foundPort != null) {
+				disconnectedDevices.remove(currentPort)
+				serialRebootListener.onSerialDeviceReconnect(foundPort)
+				// once the restart detected we close the connection
+				if (server.serialHandler.isConnected) {
+					server.serialHandler.closeSerial()
+				}
+			}
+		}
+	}
+
+	override fun onNewSerialDevice(port: SerialPort) {
+		val foundPort = watchRestartQueue.find { it.first.id == port.portLocation }
+		if (foundPort != null && disconnectedDevices.contains(port)) {
+			disconnectedDevices.remove(port)
+			serialRebootListener.onSerialDeviceReconnect(foundPort)
+			// once the restart detected we close the connection
+			if (server.serialHandler.isConnected) {
+				server.serialHandler.closeSerial()
+			}
+		}
+	}
+
+	override fun onSerialDeviceDeleted(port: SerialPort) {
+		val foundPort = watchRestartQueue.find { it.first.id == port.portLocation }
+		if (foundPort != null) {
+			disconnectedDevices.add(port)
+		}
+	}
+}
--- a/server/core/src/main/java/dev/slimevr/firmware/UpdateDeviceId.kt
+++ b/server/core/src/main/java/dev/slimevr/firmware/UpdateDeviceId.kt
@@ -0,0 +1,24 @@
+package dev.slimevr.firmware
+
+data class UpdateDeviceId<T>(
+	val type: FirmwareUpdateMethod,
+	val id: T,
+) {
+	override fun equals(other: Any?): Boolean {
+		if (this === other) return true
+		if (javaClass != other?.javaClass) return false
+
+		other as UpdateDeviceId<*>
+
+		if (type != other.type) return false
+		if (id != other.id) return false
+
+		return true
+	}
+
+	override fun hashCode(): Int {
+		var result = type.hashCode()
+		result = 31 * result + (id?.hashCode() ?: 0)
+		return result
+	}
+}
--- a/server/core/src/main/java/dev/slimevr/firmware/UpdateStatusEvent.kt
+++ b/server/core/src/main/java/dev/slimevr/firmware/UpdateStatusEvent.kt
@@ -0,0 +1,8 @@
+package dev.slimevr.firmware
+
+data class UpdateStatusEvent<T>(
+	val deviceId: UpdateDeviceId<T>,
+	val status: FirmwareUpdateStatus,
+	val progress: Int = 0,
+	val time: Long = System.currentTimeMillis(),
+)
--- a/server/core/src/main/java/dev/slimevr/poseframeformat/trackerdata/TrackerFrames.kt
+++ b/server/core/src/main/java/dev/slimevr/poseframeformat/trackerdata/TrackerFrames.kt
@@ -41,6 +41,7 @@ data class TrackerFrames(val name: String = "", val frames: FastList<TrackerFram
 			// Make sure this is false!! Otherwise HumanSkeleton ignores it
 			isInternal = false,
 			isComputed = true,
+			trackRotDirection = false,
 		)

 		tracker.status = TrackerStatus.OK
--- a/server/core/src/main/java/dev/slimevr/protocol/ProtocolAPI.java
+++ b/server/core/src/main/java/dev/slimevr/protocol/ProtocolAPI.java
@@ -65,4 +65,5 @@ public class ProtocolAPI {
 	public void removeAPIServer(ProtocolAPIServer server) {
 		this.servers.remove(server);
 	}
+
 }
--- a/server/core/src/main/java/dev/slimevr/protocol/datafeed/DataFeedBuilder.java
+++ b/server/core/src/main/java/dev/slimevr/protocol/datafeed/DataFeedBuilder.java
@@ -38,8 +38,6 @@ public class DataFeedBuilder {
 			? fbb.createString(device.getManufacturer())
 			: 0;

-		int boardTypeOffset = fbb.createString(device.getBoardType().toString());
-
 		int hardwareIdentifierOffset = fbb.createString(device.getHardwareIdentifier());

 		HardwareInfo.startHardwareInfo(fbb);
@@ -68,7 +66,7 @@ public class DataFeedBuilder {
 		// TODO need support: HardwareInfo.addDisplayName(fbb, de);

 		HardwareInfo.addMcuId(fbb, device.getMcuType().getSolarType());
-		HardwareInfo.addBoardType(fbb, boardTypeOffset);
+		HardwareInfo.addOfficialBoardType(fbb, device.getBoardType().getSolarType());
 		return HardwareInfo.endHardwareInfo(fbb);
 	}

@@ -351,7 +349,7 @@ public class DataFeedBuilder {
 		for (int i = 0; i < devices.size(); i++) {
 			Device device = devices.get(i);
 			devicesDataOffsets[i] = DataFeedBuilder
-				.createDeviceData(fbb, i, deviceDataMaskT, device);
+				.createDeviceData(fbb, device.getId(), deviceDataMaskT, device);
 		}

 		return DataFeedUpdate.createDevicesVector(fbb, devicesDataOffsets);
--- a/server/core/src/main/java/dev/slimevr/protocol/rpc/RPCHandler.kt
+++ b/server/core/src/main/java/dev/slimevr/protocol/rpc/RPCHandler.kt
@@ -8,6 +8,7 @@ import dev.slimevr.protocol.ProtocolAPI
 import dev.slimevr.protocol.ProtocolHandler
 import dev.slimevr.protocol.datafeed.DataFeedBuilder
 import dev.slimevr.protocol.rpc.autobone.RPCAutoBoneHandler
+import dev.slimevr.protocol.rpc.firmware.RPCFirmwareUpdateHandler
 import dev.slimevr.protocol.rpc.reset.RPCResetHandler
 import dev.slimevr.protocol.rpc.serial.RPCProvisioningHandler
 import dev.slimevr.protocol.rpc.serial.RPCSerialHandler
@@ -41,6 +42,7 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
 		RPCAutoBoneHandler(this, api)
 		RPCHandshakeHandler(this, api)
 		RPCTrackingPause(this, api)
+		RPCFirmwareUpdateHandler(this, api)

 		registerPacketListener(
 			RpcMessage.ResetRequest,
--- a/server/core/src/main/java/dev/slimevr/protocol/rpc/firmware/RPCFirmwareUpdateHandler.kt
+++ b/server/core/src/main/java/dev/slimevr/protocol/rpc/firmware/RPCFirmwareUpdateHandler.kt
@@ -0,0 +1,133 @@
+package dev.slimevr.protocol.rpc.firmware
+
+import com.google.flatbuffers.FlatBufferBuilder
+import dev.slimevr.firmware.FirmwareUpdateListener
+import dev.slimevr.firmware.FirmwareUpdateMethod
+import dev.slimevr.firmware.UpdateDeviceId
+import dev.slimevr.firmware.UpdateStatusEvent
+import dev.slimevr.protocol.GenericConnection
+import dev.slimevr.protocol.ProtocolAPI
+import dev.slimevr.protocol.rpc.RPCHandler
+import solarxr_protocol.datatypes.DeviceIdT
+import solarxr_protocol.datatypes.DeviceIdTableT
+import solarxr_protocol.rpc.FirmwareUpdateDeviceId
+import solarxr_protocol.rpc.FirmwareUpdateDeviceIdUnion
+import solarxr_protocol.rpc.FirmwareUpdateRequest
+import solarxr_protocol.rpc.FirmwareUpdateRequestT
+import solarxr_protocol.rpc.FirmwareUpdateStatusResponse
+import solarxr_protocol.rpc.RpcMessage
+import solarxr_protocol.rpc.RpcMessageHeader
+import solarxr_protocol.rpc.SerialDevicePortT
+
+class RPCFirmwareUpdateHandler(
+	private val rpcHandler: RPCHandler,
+	var api: ProtocolAPI,
+) : FirmwareUpdateListener {
+
+	init {
+		api.server.firmwareUpdateHandler.addListener(this)
+		rpcHandler.registerPacketListener(
+			RpcMessage.FirmwareUpdateRequest,
+			this::onFirmwareUpdateRequest,
+		)
+		rpcHandler.registerPacketListener(
+			RpcMessage.FirmwareUpdateStopQueuesRequest,
+			this::onFirmwareUpdateStopQueuesRequest,
+		)
+	}
+
+	private fun onFirmwareUpdateStopQueuesRequest(
+		conn: GenericConnection,
+		messageHeader: RpcMessageHeader,
+	) {
+		api.server.firmwareUpdateHandler.cancelUpdates()
+	}
+
+	private fun onFirmwareUpdateRequest(
+		conn: GenericConnection,
+		messageHeader: RpcMessageHeader,
+	) {
+		val req =
+			(messageHeader.message(FirmwareUpdateRequest()) as FirmwareUpdateRequest).unpack()
+		val updateDeviceId = buildUpdateDeviceId(req) ?: return
+
+		api.server.firmwareUpdateHandler.queueFirmwareUpdate(
+			req,
+			updateDeviceId,
+		)
+	}
+
+	override fun onUpdateStatusChange(event: UpdateStatusEvent<*>) {
+		val fbb = FlatBufferBuilder(32)
+
+		val dataUnion = FirmwareUpdateDeviceIdUnion()
+		dataUnion.type = event.deviceId.type.id
+		dataUnion.value = createUpdateDeviceId(event.deviceId)
+
+		val deviceIdOffset = FirmwareUpdateDeviceIdUnion.pack(fbb, dataUnion)
+
+		FirmwareUpdateStatusResponse.startFirmwareUpdateStatusResponse(fbb)
+		FirmwareUpdateStatusResponse.addStatus(fbb, event.status.id)
+		FirmwareUpdateStatusResponse.addDeviceIdType(fbb, dataUnion.type)
+		FirmwareUpdateStatusResponse.addDeviceId(fbb, deviceIdOffset)
+		FirmwareUpdateStatusResponse.addProgress(fbb, event.progress.toByte())
+
+		val update = FirmwareUpdateStatusResponse.endFirmwareUpdateStatusResponse(fbb)
+		val outbound = rpcHandler.createRPCMessage(
+			fbb,
+			RpcMessage.FirmwareUpdateStatusResponse,
+			update,
+		)
+		fbb.finish(outbound)
+
+		api
+			.apiServers.forEach { server ->
+				server.apiConnections.forEach { conn ->
+					conn.send(fbb.dataBuffer())
+				}
+			}
+	}
+
+	private fun buildUpdateDeviceId(req: FirmwareUpdateRequestT): UpdateDeviceId<Any>? {
+		when (req.method.type) {
+			FirmwareUpdateDeviceId.solarxr_protocol_datatypes_DeviceIdTable -> {
+				return UpdateDeviceId(
+					FirmwareUpdateMethod.OTA,
+					req.method.asOTAFirmwareUpdate().deviceId.id,
+				)
+			}
+
+			FirmwareUpdateDeviceId.SerialDevicePort -> {
+				return UpdateDeviceId(
+					FirmwareUpdateMethod.SERIAL,
+					req.method.asSerialFirmwareUpdate().deviceId.port,
+				)
+			}
+		}
+		return null
+	}
+
+	private fun createUpdateDeviceId(data: UpdateDeviceId<*>): Any = when (data.type) {
+		FirmwareUpdateMethod.NONE -> error("Unsupported method")
+
+		FirmwareUpdateMethod.OTA -> {
+			if (data.id !is Int) {
+				error("Invalid state, the id type should be Int")
+			}
+			DeviceIdTableT().apply {
+				id = DeviceIdT().apply {
+					id = data.id
+				}
+			}
+		}
+
+		FirmwareUpdateMethod.SERIAL -> {
+			if (data.id !is String) {
+				error("Invalid state, the id type should be String")
+			}
+			SerialDevicePortT().apply {
+				port = data.id
+			}
+		}
+	}
+}
--- a/server/core/src/main/java/dev/slimevr/protocol/rpc/serial/RPCProvisioningHandler.java
+++ b/server/core/src/main/java/dev/slimevr/protocol/rpc/serial/RPCProvisioningHandler.java
@@ -6,6 +6,7 @@ import dev.slimevr.protocol.ProtocolAPI;
 import dev.slimevr.protocol.rpc.RPCHandler;
 import dev.slimevr.serial.ProvisioningListener;
 import dev.slimevr.serial.ProvisioningStatus;
+import dev.slimevr.serial.SerialPort;
 import solarxr_protocol.rpc.*;

 import java.util.function.Consumer;
@@ -59,7 +60,7 @@ public class RPCProvisioningHandler implements ProvisioningListener {
 	}

 	@Override
-	public void onProvisioningStatusChange(ProvisioningStatus status) {
+	public void onProvisioningStatusChange(ProvisioningStatus status, SerialPort port) {

 		FlatBufferBuilder fbb = new FlatBufferBuilder(32);

--- a/server/core/src/main/java/dev/slimevr/protocol/rpc/serial/RPCSerialHandler.java
+++ b/server/core/src/main/java/dev/slimevr/protocol/rpc/serial/RPCSerialHandler.java
@@ -7,6 +7,7 @@ import dev.slimevr.protocol.rpc.RPCHandler;
 import dev.slimevr.serial.SerialListener;
 import dev.slimevr.serial.SerialPort;
 import io.eiren.util.logging.LogManager;
+import org.jetbrains.annotations.NotNull;
 import solarxr_protocol.rpc.*;

 import java.util.ArrayList;
@@ -274,4 +275,7 @@ public class RPCSerialHandler implements SerialListener {
 			);
 	}

+	@Override
+	public void onSerialDeviceDeleted(@NotNull SerialPort port) {
+	}
 }
--- a/server/core/src/main/java/dev/slimevr/serial/ProvisioningHandler.java
+++ b/server/core/src/main/java/dev/slimevr/serial/ProvisioningHandler.java
@@ -2,6 +2,7 @@ package dev.slimevr.serial;

 import dev.slimevr.VRServer;
 import io.eiren.util.logging.LogManager;
+import kotlin.text.Regex;
 import org.jetbrains.annotations.NotNull;

 import java.util.List;
@@ -80,6 +81,10 @@ public class ProvisioningHandler implements SerialListener {

 	}

+	public void tryObtainMacAddress() {
+		this.changeStatus(ProvisioningStatus.OBTAINING_MAC_ADDRESS);
+		vrServer.serialHandler.infoRequest();
+	}

 	public void tryProvisioning() {
 		this.changeStatus(ProvisioningStatus.PROVISIONING);
@@ -97,12 +102,16 @@ public class ProvisioningHandler implements SerialListener {


 		if (System.currentTimeMillis() - this.lastStatusChange > 10000) {
-			if (this.provisioningStatus == ProvisioningStatus.NONE)
+			if (
+				this.provisioningStatus == ProvisioningStatus.NONE
+					|| this.provisioningStatus == ProvisioningStatus.SERIAL_INIT
+			)
 				this.initSerial(this.preferredPort);
-			else if (this.provisioningStatus == ProvisioningStatus.SERIAL_INIT)
-				initSerial(this.preferredPort);
-			else if (this.provisioningStatus == ProvisioningStatus.PROVISIONING)
-				this.tryProvisioning();
+			else if (
+				this.provisioningStatus == ProvisioningStatus.OBTAINING_MAC_ADDRESS
+					|| this.provisioningStatus == ProvisioningStatus.PROVISIONING
+			)
+				this.tryObtainMacAddress();
 			else if (this.provisioningStatus == ProvisioningStatus.LOOKING_FOR_SERVER)
 				this.changeStatus(ProvisioningStatus.COULD_NOT_FIND_SERVER);
 		}
@@ -113,7 +122,7 @@ public class ProvisioningHandler implements SerialListener {
 	public void onSerialConnected(@NotNull SerialPort port) {
 		if (!isRunning)
 			return;
-		this.tryProvisioning();
+		this.tryObtainMacAddress();
 	}

 	@Override
@@ -129,6 +138,23 @@ public class ProvisioningHandler implements SerialListener {
 		if (!isRunning)
 			return;

+		if (
+			provisioningStatus == ProvisioningStatus.OBTAINING_MAC_ADDRESS && str.contains("mac:")
+		) {
+			var match = new Regex("mac: (?<mac>([0-9A-Fa-f]{2}[:-]){5}([0-9A-Fa-f]{2})), ")
+				.find(str, str.indexOf("mac:"));
+
+			if (match != null) {
+				var b = match.getGroups().get(1);
+				if (b != null) {
+					vrServer.configManager.getVrConfig().addKnownDevice(b.getValue());
+					vrServer.configManager.saveConfig();
+					this.tryProvisioning();
+				}
+			}
+
+		}
+
 		if (
 			provisioningStatus == ProvisioningStatus.PROVISIONING
 				&& str.contains("New wifi credentials set")
@@ -166,7 +192,11 @@ public class ProvisioningHandler implements SerialListener {
 	public void changeStatus(ProvisioningStatus status) {
 		this.lastStatusChange = System.currentTimeMillis();
 		if (this.provisioningStatus != status) {
-			this.listeners.forEach((l) -> l.onProvisioningStatusChange(status));
+			this.listeners
+				.forEach(
+					(l) -> l
+						.onProvisioningStatusChange(status, vrServer.serialHandler.getCurrentPort())
+				);
 			this.provisioningStatus = status;
 		}
 	}
@@ -186,4 +216,7 @@ public class ProvisioningHandler implements SerialListener {
 		listeners.removeIf(listener -> l == listener);
 	}

+	@Override
+	public void onSerialDeviceDeleted(@NotNull SerialPort port) {
+	}
 }
--- a/server/core/src/main/java/dev/slimevr/serial/ProvisioningListener.java
+++ b/server/core/src/main/java/dev/slimevr/serial/ProvisioningListener.java
@@ -2,5 +2,5 @@ package dev.slimevr.serial;

 public interface ProvisioningListener {

-	void onProvisioningStatusChange(ProvisioningStatus status);
+	void onProvisioningStatusChange(ProvisioningStatus status, SerialPort port);
 }
--- a/server/core/src/main/java/dev/slimevr/serial/ProvisioningStatus.java
+++ b/server/core/src/main/java/dev/slimevr/serial/ProvisioningStatus.java
@@ -1,15 +1,19 @@
 package dev.slimevr.serial;

+import solarxr_protocol.rpc.WifiProvisioningStatus;
+
+
 public enum ProvisioningStatus {

-	NONE(0),
-	SERIAL_INIT(1),
-	PROVISIONING(2),
-	CONNECTING(3),
-	CONNECTION_ERROR(4),
-	LOOKING_FOR_SERVER(5),
-	COULD_NOT_FIND_SERVER(6),
-	DONE(7);
+	NONE(WifiProvisioningStatus.NONE),
+	SERIAL_INIT(WifiProvisioningStatus.SERIAL_INIT),
+	PROVISIONING(WifiProvisioningStatus.PROVISIONING),
+	OBTAINING_MAC_ADDRESS(WifiProvisioningStatus.OBTAINING_MAC_ADDRESS),
+	CONNECTING(WifiProvisioningStatus.CONNECTING),
+	CONNECTION_ERROR(WifiProvisioningStatus.CONNECTION_ERROR),
+	LOOKING_FOR_SERVER(WifiProvisioningStatus.LOOKING_FOR_SERVER),
+	COULD_NOT_FIND_SERVER(WifiProvisioningStatus.COULD_NOT_FIND_SERVER),
+	DONE(WifiProvisioningStatus.DONE);

 	public final int id;

--- a/server/core/src/main/java/dev/slimevr/serial/SerialHandler.kt
+++ b/server/core/src/main/java/dev/slimevr/serial/SerialHandler.kt
@@ -15,7 +15,9 @@ abstract class SerialHandler {
 	abstract fun infoRequest()
 	abstract fun wifiScanRequest()
 	abstract fun closeSerial()
+	abstract fun write(buff: ByteArray)
 	abstract fun setWifi(ssid: String, passwd: String)
+	abstract fun getCurrentPort(): SerialPort?

 	companion object {
 		val supportedSerial: Set<Pair<Int, Int>> = setOf(
@@ -65,5 +67,9 @@ class SerialHandlerStub : SerialHandler() {

 	override fun closeSerial() {}

+	override fun write(buff: ByteArray) {}
+
 	override fun setWifi(ssid: String, passwd: String) {}
+
+	override fun getCurrentPort(): SerialPort? = null
 }
--- a/server/core/src/main/java/dev/slimevr/serial/SerialListener.kt
+++ b/server/core/src/main/java/dev/slimevr/serial/SerialListener.kt
@@ -25,4 +25,7 @@ interface SerialListener {
 	fun onSerialDisconnected()
 	fun onSerialLog(str: String)
 	fun onNewSerialDevice(port: SerialPort)
+
+	// This is called when the serial diver does not see the device anymore
+	fun onSerialDeviceDeleted(port: SerialPort)
 }
--- a/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/HumanSkeleton.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/HumanSkeleton.kt
@@ -785,11 +785,6 @@ class HumanSkeleton(
 						var hipRot = it.getRotation()
 						var chestRot = chest.getRotation()

-						// Get the rotation relative to where we expect the hip to be
-						if (chestRot.times(FORWARD_QUATERNION).dot(hipRot) < 0.0f) {
-							hipRot = hipRot.unaryMinus()
-						}
-
 						// Interpolate between the chest and the hip
 						chestRot = chestRot.interpQ(hipRot, waistFromChestHipAveraging)

@@ -802,15 +797,6 @@ class HumanSkeleton(
 							var rightLegRot = rightUpperLegTracker?.getRotation() ?: IDENTITY
 							var chestRot = chest.getRotation()

-							// Get the rotation relative to where we expect the upper legs to be
-							val expectedUpperLegsRot = chestRot.times(FORWARD_QUATERNION)
-							if (expectedUpperLegsRot.dot(leftLegRot) < 0.0f) {
-								leftLegRot = leftLegRot.unaryMinus()
-							}
-							if (expectedUpperLegsRot.dot(rightLegRot) < 0.0f) {
-								rightLegRot = rightLegRot.unaryMinus()
-							}
-
 							// Interpolate between the pelvis, averaged from the legs, and the chest
 							chestRot = chestRot.interpQ(leftLegRot.lerpQ(rightLegRot, 0.5f), waistFromChestLegsAveraging).unit()

@@ -827,15 +813,6 @@ class HumanSkeleton(
 					var rightLegRot = rightUpperLegTracker?.getRotation() ?: IDENTITY
 					var waistRot = it.getRotation()

-					// Get the rotation relative to where we expect the upper legs to be
-					val expectedUpperLegsRot = waistRot.times(FORWARD_QUATERNION)
-					if (expectedUpperLegsRot.dot(leftLegRot) < 0.0f) {
-						leftLegRot = leftLegRot.unaryMinus()
-					}
-					if (expectedUpperLegsRot.dot(rightLegRot) < 0.0f) {
-						rightLegRot = rightLegRot.unaryMinus()
-					}
-
 					// Interpolate between the pelvis, averaged from the legs, and the chest
 					waistRot = waistRot.interpQ(leftLegRot.lerpQ(rightLegRot, 0.5f), hipFromWaistLegsAveraging).unit()

@@ -849,15 +826,6 @@ class HumanSkeleton(
 						var rightLegRot = rightUpperLegTracker?.getRotation() ?: IDENTITY
 						var chestRot = it.getRotation()

-						// Get the rotation relative to where we expect the upper legs to be
-						val expectedUpperLegsRot = chestRot.times(FORWARD_QUATERNION)
-						if (expectedUpperLegsRot.dot(leftLegRot) < 0.0f) {
-							leftLegRot = leftLegRot.unaryMinus()
-						}
-						if (expectedUpperLegsRot.dot(rightLegRot) < 0.0f) {
-							rightLegRot = rightLegRot.unaryMinus()
-						}
-
 						// Interpolate between the pelvis, averaged from the legs, and the chest
 						chestRot = chestRot.interpQ(leftLegRot.lerpQ(rightLegRot, 0.5f), hipFromChestLegsAveraging).unit()

@@ -1110,24 +1078,11 @@ class HumanSkeleton(
 		rightKnee: Quaternion,
 		hip: Quaternion,
 	): Quaternion {
-		// Get the knees' rotation relative to where we expect them to be.
-		// The angle between your knees and hip can be over 180 degrees...
-		var leftKneeRot = leftKnee
-		var rightKneeRot = rightKnee
-
-		val kneeRot = hip.times(FORWARD_QUATERNION)
-		if (kneeRot.dot(leftKneeRot) < 0.0f) {
-			leftKneeRot = leftKneeRot.unaryMinus()
-		}
-		if (kneeRot.dot(rightKneeRot) < 0.0f) {
-			rightKneeRot = rightKneeRot.unaryMinus()
-		}
-
 		// R = InverseHip * (LeftLeft + RightLeg)
 		// C = Quaternion(R.w, -R.x, 0, 0)
 		// Pelvis = Hip * R * C
 		// normalize(Pelvis)
-		val r = hip.inv() * (leftKneeRot + rightKneeRot)
+		val r = hip.inv() * (leftKnee + rightKnee)
 		val c = Quaternion(r.w, -r.x, 0f, 0f)
 		return (hip * r * c).unit()
 	}
--- a/server/core/src/main/java/dev/slimevr/tracking/trackers/Device.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/trackers/Device.kt
@@ -20,7 +20,7 @@ open class Device(val magSupport: Boolean = false) {
 	 * Implement toString() to return a string that uniquely identifies the board type
 	 * SHOULDN'T RETURN NULL WHEN toString() IS CALLED
 	 */
-	open val boardType: Any = BoardType.UNKNOWN
+	open val boardType: BoardType = BoardType.UNKNOWN
 	open val mcuType: MCUType = MCUType.UNKNOWN

 	open val hardwareIdentifier: String = "Unknown"
--- a/server/core/src/main/java/dev/slimevr/tracking/trackers/Tracker.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/trackers/Tracker.kt
@@ -67,6 +67,12 @@ class Tracker @JvmOverloads constructor(
 	val needsReset: Boolean = false,
 	val needsMounting: Boolean = false,
 	val isHmd: Boolean = false,
+	/**
+	 * Whether to track the direction of the tracker's rotation
+	 * (positive vs negative rotation). This needs to be disabled for AutoBone and
+	 * unit tests, where the rotation is absolute and not temporal.
+	 */
+	val trackRotDirection: Boolean = true,
 	magStatus: MagnetometerStatus = MagnetometerStatus.NOT_SUPPORTED,
 	/**
 	 * Rotation by default.
@@ -117,6 +123,8 @@ class Tracker @JvmOverloads constructor(
 			}
 			checkReportErrorStatus()
 			checkReportRequireReset()
+
+			VRServer.instance.trackerStatusChanged(this, old, new)
 		}
 	}

@@ -308,7 +316,9 @@ class Tracker @JvmOverloads constructor(
 	fun dataTick() {
 		timer.update()
 		timeAtLastUpdate = System.currentTimeMillis()
-		filteringHandler.dataTick(_rotation)
+		if (trackRotDirection) {
+			filteringHandler.dataTick(_rotation)
+		}
 	}

 	/**
@@ -318,6 +328,13 @@ class Tracker @JvmOverloads constructor(
 		timeAtLastUpdate = System.currentTimeMillis()
 	}

+	private fun getFilteredRotation(): Quaternion = if (trackRotDirection) {
+		filteringHandler.getFilteredRotation()
+	} else {
+		// Get raw rotation
+		_rotation
+	}
+
 	/**
 	 * Gets the adjusted tracker rotation after all corrections
 	 * (filtering, reset, mounting and drift compensation).
@@ -326,13 +343,7 @@ class Tracker @JvmOverloads constructor(
 	 * it too much should be avoided for performance reasons.
 	 */
 	fun getRotation(): Quaternion {
-		var rot = if (allowFiltering && filteringHandler.filteringEnabled) {
-			// Get filtered rotation
-			filteringHandler.getFilteredRotation()
-		} else {
-			// Get unfiltered rotation
-			filteringHandler.getTrackedRotation()
-		}
+		var rot = getFilteredRotation()

 		// Reset if needed and is not computed and internal
 		if (needsReset && !(isComputed && isInternal) && trackerDataType == TrackerDataType.ROTATION) {
@@ -358,13 +369,7 @@ class Tracker @JvmOverloads constructor(
 	 * This is used for debugging/visualizing tracker data
 	 */
 	fun getIdentityAdjustedRotation(): Quaternion {
-		var rot = if (filteringHandler.filteringEnabled) {
-			// Get filtered rotation
-			filteringHandler.getFilteredRotation()
-		} else {
-			// Get unfiltered rotation
-			filteringHandler.getTrackedRotation()
-		}
+		var rot = getFilteredRotation()

 		// Reset if needed or is a computed tracker besides head
 		if (needsReset && !(isComputed && trackerPosition != TrackerPosition.HEAD) && trackerDataType == TrackerDataType.ROTATION) {
@@ -422,6 +427,6 @@ class Tracker @JvmOverloads constructor(
 	 * Call when doing a full reset to reset the tracking of rotations >180 degrees
 	 */
 	fun resetFilteringQuats() {
-		filteringHandler.resetQuats(_rotation)
+		filteringHandler.resetMovingAverage(_rotation)
 	}
 }
--- a/server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerFilteringHandler.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerFilteringHandler.kt
@@ -11,9 +11,8 @@ import io.github.axisangles.ktmath.Quaternion
 * See QuaternionMovingAverage.kt for the quaternion math.
 */
 class TrackerFilteringHandler {
-
-	private var filteringMovingAverage: QuaternionMovingAverage? = null
-	private var trackingMovingAverage = QuaternionMovingAverage(TrackerFilters.NONE)
+	// Instantiated by default in case config doesn't get read (if tracker doesn't support filtering)
+	private var movingAverage = QuaternionMovingAverage(TrackerFilters.NONE)
 	var filteringEnabled = false

 	/**
@@ -22,14 +21,14 @@ class TrackerFilteringHandler {
 	fun readFilteringConfig(config: FiltersConfig, currentRawRotation: Quaternion) {
 		val type = TrackerFilters.getByConfigkey(config.type)
 		if (type == TrackerFilters.SMOOTHING || type == TrackerFilters.PREDICTION) {
-			filteringMovingAverage = QuaternionMovingAverage(
+			movingAverage = QuaternionMovingAverage(
 				type,
 				config.amount,
 				currentRawRotation,
 			)
 			filteringEnabled = true
 		} else {
-			filteringMovingAverage = null
+			movingAverage = QuaternionMovingAverage(TrackerFilters.NONE)
 			filteringEnabled = false
 		}
 	}
@@ -38,33 +37,25 @@ class TrackerFilteringHandler {
 	 * Update the moving average to make it smooth
 	 */
 	fun update() {
-		trackingMovingAverage.update()
-		filteringMovingAverage?.update()
+		movingAverage.update()
 	}

 	/**
 	 * Updates the latest rotation
 	 */
 	fun dataTick(currentRawRotation: Quaternion) {
-		trackingMovingAverage.addQuaternion(currentRawRotation)
-		filteringMovingAverage?.addQuaternion(currentRawRotation)
+		movingAverage.addQuaternion(currentRawRotation)
 	}

 	/**
 	 * Call when doing a full reset to reset the tracking of rotations >180 degrees
 	 */
-	fun resetQuats(currentRawRotation: Quaternion) {
-		trackingMovingAverage.resetQuats(currentRawRotation)
-		filteringMovingAverage?.resetQuats(currentRawRotation)
+	fun resetMovingAverage(currentRawRotation: Quaternion) {
+		movingAverage.resetQuats(currentRawRotation)
 	}

 	/**
-	 * Gets the tracked rotation from the moving average (allows >180 degrees)
+	 * Get the filtered rotation from the moving average (either prediction/smoothing or just >180 degs)
 	 */
-	fun getTrackedRotation() = trackingMovingAverage.filteredQuaternion
-
-	/**
-	 * Get the filtered rotation from the moving average
-	 */
-	fun getFilteredRotation() = filteringMovingAverage?.filteredQuaternion ?: Quaternion.IDENTITY
+	fun getFilteredRotation() = movingAverage.filteredQuaternion
 }
--- a/Show More
+++ b/Show More