diff --git a/server/desktop/src/main/java/dev/slimevr/desktop/tracking/trackers/hid/TrackersHID.kt b/server/desktop/src/main/java/dev/slimevr/desktop/tracking/trackers/hid/TrackersHID.kt
index f1b4dec8f..90584dba7 100644
--- a/server/desktop/src/main/java/dev/slimevr/desktop/tracking/trackers/hid/TrackersHID.kt
+++ b/server/desktop/src/main/java/dev/slimevr/desktop/tracking/trackers/hid/TrackersHID.kt
@@ -217,6 +217,7 @@ class TrackersHID(name: String, private val trackersConsumer: Consumer<Tracker>)
 			var devicesDataReceived = false
 			val q = intArrayOf(0, 0, 0, 0)
 			val a = intArrayOf(0, 0, 0)
+			val m = intArrayOf(0, 0, 0)
 			for ((hidDevice, deviceList) in devicesByHID) {
 				val dataReceived: ByteArray = try {
 					hidDevice.readAll(0) // multiples 64 bytes
@@ -318,7 +319,7 @@ class TrackersHID(name: String, private val trackersConsumer: Consumer<Tracker>)
 									// Q15 as short big endian
 									q[j] = dataReceived[i + 2 + j * 2 + 1].toInt() shl 8 or dataReceived[i + 2 + j * 2].toUByte().toInt()
 								}
-								for (j in 0..2) { // accel received as fixed 7, in m/s
+								for (j in 0..2) { // accel received as fixed 7, in m/s^2
 									// Q7 as short big endian
 									a[j] = dataReceived[i + 10 + j * 2 + 1].toInt() shl 8 or dataReceived[i + 10 + j * 2].toUByte().toInt()
 								}
@@ -336,7 +337,7 @@ class TrackersHID(name: String, private val trackersConsumer: Consumer<Tracker>)
 								q[0] = (q_buf and 1023u).toInt()
 								q[1] = (q_buf shr 10 and 2047u).toInt()
 								q[2] = (q_buf shr 21 and 2047u).toInt()
-								for (j in 0..2) { // accel received as fixed 7, in m/s
+								for (j in 0..2) { // accel received as fixed 7, in m/s^2
 									// Q7 as short big endian
 									a[j] = dataReceived[i + 9 + j * 2 + 1].toInt() shl 8 or dataReceived[i + 9 + j * 2].toUByte().toInt()
 								}
@@ -349,6 +350,17 @@ class TrackersHID(name: String, private val trackersConsumer: Consumer<Tracker>)
 								rssi = dataReceived[i + 15].toUByte().toInt()
 							}
 
+							4 -> { // full precision quat and mag, no extra data
+								for (j in 0..3) { // quat received as fixed Q15
+									// Q15 as short big endian
+									q[j] = dataReceived[i + 2 + j * 2 + 1].toInt() shl 8 or dataReceived[i + 2 + j * 2].toUByte().toInt()
+								}
+								for (j in 0..2) { // mag received as fixed 10, in gauss
+									// Q10 as short big endian
+									m[j] = dataReceived[i + 10 + j * 2 + 1].toInt() shl 8 or dataReceived[i + 10 + j * 2].toUByte().toInt()
+								}
+							}
+
 							else -> {
 							}
 						}
@@ -395,7 +407,7 @@ class TrackersHID(name: String, private val trackersConsumer: Consumer<Tracker>)
 						}
 
 						// Assign rotation and acceleration
-						if (packetType == 1) {
+						if (packetType == 1 || packetType == 4) {
 							// The data comes in the same order as in the UDP protocol
 							// x y z w -> w x y z
 							var rot = Quaternion(q[3].toFloat(), q[0].toFloat(), q[1].toFloat(), q[2].toFloat())
@@ -427,6 +439,20 @@ class TrackersHID(name: String, private val trackersConsumer: Consumer<Tracker>)
 							val scaleAccel = 1 / (1 shl 7).toFloat() // compile time evaluation
 							var acceleration = Vector3(a[0].toFloat(), a[1].toFloat(), a[2].toFloat()).times(scaleAccel) // no division
 							tracker.setAcceleration(acceleration)
+						}
+						if (packetType == 4) {
+							// Magnetometer is in local device frame
+							// On flat surface / face up:
+							// Right side of the device is +X
+							// Front side (facing up) is +Z
+							// Mounted on body / standing up:
+							// Top side of the device is +Y
+							// Front side (facing out) is +Z
+							val scaleMag = 1000 / (1 shl 10).toFloat() // compile time evaluation, and change gauss to milligauss
+							var magnetometer = Vector3(m[0].toFloat(), m[1].toFloat(), m[2].toFloat()).times(scaleMag) // no division
+							tracker.setMagVector(magnetometer)
+						}
+						if (packetType == 1 || packetType == 2 || packetType == 4) {
 							tracker.dataTick() // only data tick if there is rotation data
 						}