Create toggle

Co-authored-by: lucas lelievre <loucass003@gmail.com>

CONTRIBUTING.md

@@ -116,3 +116,9 @@ licensed under `GPL-v3`.
 ## Discord
 We use discord *a lot* to coordinate and discuss development. Come join us at
 https://discord.gg/SlimeVR!
+
+## Use of AI
+We DO NOT accept contributions that are generated with AI (for example, "vibe-coding").
+
+If you do use AI, and you believe your usage of AI is reasonable, you must clearly disclose
+how you used AI in your submission.

gui/public/i18n/en/translation.ftl

@@ -662,6 +662,8 @@ settings-general-fk_settings-skeleton_settings-impute_hip_from_waist_legs = Impu
 settings-general-fk_settings-skeleton_settings-interp_hip_legs = Average the hip's yaw and roll with the legs'
 settings-general-fk_settings-skeleton_settings-interp_knee_tracker_ankle = Average the knee trackers' yaw and roll with the ankles'
 settings-general-fk_settings-skeleton_settings-interp_knee_ankle = Average the knees' yaw and roll with the ankles'
+settings-general-fk_settings-skeleton_settings-fingers_mitten = Fingers Mitten Mode
+
 
 settings-general-fk_settings-self_localization-title = Mocap mode
 settings-general-fk_settings-self_localization-description = Mocap Mode allows the skeleton to roughly track its own position without a headset or other trackers. Note that this requires feet and head trackers to work and is still experimental.

gui/src-tauri/69-slimevr-devices.rules

@@ -18,6 +18,8 @@ SUBSYSTEMS=="usb", ATTRS{idVendor}=="1A86", ATTRS{idProduct}=="7522", MODE="0660
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="1A86", ATTRS{idProduct}=="7523", MODE="0660", TAG+="uaccess"
 # CH341
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="1A86", ATTRS{idProduct}=="5523", MODE="0660", TAG+="uaccess"
+# CH343
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="1A86", ATTRS{idProduct}=="55D3", MODE="0660", TAG+="uaccess"
 # CH9102x
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="1A86", ATTRS{idProduct}=="55D4", MODE="0660", TAG+="uaccess"
 
@@ -26,8 +28,10 @@ SUBSYSTEMS=="usb", ATTRS{idVendor}=="1A86", ATTRS{idProduct}=="55D4", MODE="0660
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="10C4", ATTRS{idProduct}=="EA60", MODE="0660", TAG+="uaccess"
 
 ## Espressif
-# ESP32-C3
+# ESP32-S3 / ESP32-C3 / ESP32-C5 / ESP32-C6 / ESP32-C61 / ESP32-H2 / ESP32-P4
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="303A", ATTRS{idProduct}=="1001", MODE="0660", TAG+="uaccess"
+# ESP32-S2
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="303A", ATTRS{idProduct}=="0002", MODE="0660", TAG+="uaccess"
 
 ## FTDI
 # FT232BM/L/Q, FT245BM/L/Q

gui/src/components/settings/pages/GeneralSettings.tsx

@@ -75,6 +75,7 @@ export type SettingsForm = {
     usePosition: boolean;
     enforceConstraints: boolean;
     correctConstraints: boolean;
+    fingersMitten: boolean;
   };
   ratios: {
     imputeWaistFromChestHip: number;
@@ -134,6 +135,7 @@ const defaultValues: SettingsForm = {
     usePosition: true,
     enforceConstraints: true,
     correctConstraints: true,
+    fingersMitten: false,
   },
   ratios: {
     imputeWaistFromChestHip: 0.3,
@@ -231,6 +233,7 @@ export function GeneralSettings() {
       toggles.usePosition = values.toggles.usePosition;
       toggles.enforceConstraints = values.toggles.enforceConstraints;
       toggles.correctConstraints = values.toggles.correctConstraints;
+      toggles.fingersMitten = values.toggles.fingersMitten;
       modelSettings.toggles = toggles;
     }
 
@@ -1036,6 +1039,15 @@ export function GeneralSettings() {
                       'settings-general-fk_settings-skeleton_settings-extended_knees_model'
                     )}
                   />
+                  <CheckBox
+                    variant="toggle"
+                    outlined
+                    control={control}
+                    name="toggles.fingersMitten"
+                    label={l10n.getString(
+                      'settings-general-fk_settings-skeleton_settings-fingers_mitten'
+                    )}
+                  />
                 </div>
                 <div className="flex flex-col">
                   <div className="flex flex-col pt-2 pb-3 gap-2">

gui/src/components/tracker/TrackerBattery.tsx

@@ -38,7 +38,7 @@ export function TrackerBattery({
 
   return (
     <Tooltip
-      disabled={!charging && (!runtime || debug)}
+      disabled={charging || !runtime || debug}
       preferedDirection="left"
       content=<Typography>{percentFormatter.format(value)}</Typography>
     >

gui/src/components/tracker/TrackerSettings.tsx

@@ -199,7 +199,7 @@ export function TrackerSettingsPage() {
               shakeHighlight={false}
             />
           )}
-          {
+          {tracker?.device?.hardwareInfo?.hardwareIdentifier != 'Unknown' && (
             <div className="flex flex-col bg-background-70 p-3 rounded-lg gap-2">
               <Typography
                 variant="section-title"
@@ -223,34 +223,38 @@ export function TrackerSettingsPage() {
                     whitespace="whitespace-pre-wrap"
                     textAlign="text-end"
                   >
-                    v{tracker?.device?.hardwareInfo?.firmwareVersion}
+                    {tracker?.device?.hardwareInfo?.firmwareVersion
+                      ? `v${tracker?.device?.hardwareInfo?.firmwareVersion}`
+                      : '--'}
                   </Typography>
                 </div>
-                <div className="flex justify-between gap-2">
-                  <Typography id="tracker-settings-latest-version" />
-                  {!updateUnavailable && (
-                    <>
-                      {currentFirmwareRelease && (
-                        <Typography
-                          color={
-                            needUpdate === 'updated'
-                              ? undefined
-                              : 'text-accent-background-10'
-                          }
-                          textAlign="text-end"
-                          whitespace="whitespace-pre-wrap"
-                        >
-                          {currentFirmwareRelease.name}
-                        </Typography>
-                      )}
-                    </>
-                  )}
-                  {updateUnavailable && (
-                    <Typography id="tracker-settings-update-unavailable-v2">
-                      No releases found
-                    </Typography>
-                  )}
-                </div>
+                {!!tracker?.device?.hardwareInfo?.officialBoardType && (
+                  <div className="flex justify-between gap-2">
+                    <Typography id="tracker-settings-latest-version" />
+                    {!updateUnavailable && (
+                      <>
+                        {currentFirmwareRelease && (
+                          <Typography
+                            color={
+                              needUpdate === 'updated'
+                                ? undefined
+                                : 'text-accent-background-10'
+                            }
+                            textAlign="text-end"
+                            whitespace="whitespace-pre-wrap"
+                          >
+                            {currentFirmwareRelease.name}
+                          </Typography>
+                        )}
+                      </>
+                    )}
+                    {updateUnavailable && (
+                      <Typography id="tracker-settings-update-unavailable-v2">
+                        No releases found
+                      </Typography>
+                    )}
+                  </div>
+                )}
               </div>
               {!updateUnavailable && (
                 <Tooltip
@@ -289,7 +293,7 @@ export function TrackerSettingsPage() {
                 </Tooltip>
               )}
             </div>
-          }
+          )}
 
           <div className="flex flex-col bg-background-70 p-3 rounded-lg gap-2 overflow-x-auto">
             <div className="flex justify-between">
@@ -317,10 +321,11 @@ export function TrackerSettingsPage() {
             <div className="flex justify-between">
               <Typography>{l10n.getString('tracker-infos-url')}</Typography>
               <Typography>
-                udp://
-                {IPv4.fromNumber(
-                  tracker?.device?.hardwareInfo?.ipAddress?.addr || 0
-                ).toString()}
+                {tracker?.device?.hardwareInfo?.ipAddress?.addr
+                  ? `udp://${IPv4.fromNumber(
+                      tracker?.device?.hardwareInfo?.ipAddress?.addr || 0
+                    ).toString()}`
+                  : '--'}
               </Typography>
             </div>
             <div className="flex justify-between">

gui/src/hooks/firmware-update.ts

@@ -129,9 +129,6 @@ export function checkForUpdate(
 
   if (
     !device.hardwareInfo?.officialBoardType ||
-    ![BoardType.SLIMEVR, BoardType.SLIMEVR_V1_2].includes(
-      device.hardwareInfo.officialBoardType
-    ) ||
     !semver.valid(currentFirmwareRelease.version) ||
     !semver.valid(device.hardwareInfo.firmwareVersion?.toString() ?? 'none')
   ) {
@@ -143,6 +140,14 @@ export function checkForUpdate(
     currentFirmwareRelease.version
   );
 
+  if (
+    ![BoardType.SLIMEVR, BoardType.SLIMEVR_V1_2].includes(
+      device.hardwareInfo.officialBoardType
+    )
+  ) {
+    return canUpdate ? 'unavailable' : 'updated';
+  }
+
   if (
     canUpdate &&
     device.hardwareStatus?.batteryPctEstimate != null &&

server/core/src/main/java/dev/slimevr/protocol/datafeed/DataFeedBuilder.kt

@@ -349,6 +349,9 @@ fun createDeviceData(
 	if (tracker.packetsReceived != null) {
 		HardwareStatus.addPacketsReceived(fbb, tracker.packetsReceived!!)
 	}
+	if (tracker.batteryRemainingRuntime != null) {
+		HardwareStatus.addBatteryRuntimeEstimate(fbb, tracker.batteryRemainingRuntime!!)
+	}
 
 	val hardwareDataOffset = HardwareStatus.endHardwareStatus(fbb)
 	val hardwareInfoOffset = createHardwareInfo(fbb, device)

server/core/src/main/java/dev/slimevr/protocol/rpc/reset/RPCResetHandler.kt

@@ -39,24 +39,39 @@ class RPCResetHandler(var rpcHandler: RPCHandler, var api: ProtocolAPI) : ResetL
 		}
 
 		if (req.resetType() == ResetType.Yaw) {
-			if (bodyParts.isEmpty()) {
-				api.server.scheduleResetTrackersYaw(RESET_SOURCE_NAME, ((req.delay() ?: resetsConfig.yawResetDelay) * 1000).toLong())
+			val delay = if (req.hasDelay()) {
+				req.delay()
 			} else {
-				api.server.scheduleResetTrackersYaw(RESET_SOURCE_NAME, ((req.delay() ?: resetsConfig.yawResetDelay) * 1000).toLong(), bodyParts.toList())
+				resetsConfig.yawResetDelay
+			}
+			if (bodyParts.isEmpty()) {
+				api.server.scheduleResetTrackersYaw(RESET_SOURCE_NAME, (delay * 1000).toLong())
+			} else {
+				api.server.scheduleResetTrackersYaw(RESET_SOURCE_NAME, (delay * 1000).toLong(), bodyParts.toList())
 			}
 		}
 		if (req.resetType() == ResetType.Full) {
-			if (bodyParts.isEmpty()) {
-				api.server.scheduleResetTrackersFull(RESET_SOURCE_NAME, ((req.delay() ?: resetsConfig.fullResetDelay) * 1000).toLong())
+			val delay = if (req.hasDelay()) {
+				req.delay()
 			} else {
-				api.server.scheduleResetTrackersFull(RESET_SOURCE_NAME, ((req.delay() ?: resetsConfig.fullResetDelay) * 1000).toLong(), bodyParts.toList())
+				resetsConfig.fullResetDelay
+			}
+			if (bodyParts.isEmpty()) {
+				api.server.scheduleResetTrackersFull(RESET_SOURCE_NAME, (delay * 1000).toLong())
+			} else {
+				api.server.scheduleResetTrackersFull(RESET_SOURCE_NAME, (delay * 1000).toLong(), bodyParts.toList())
 			}
 		}
 		if (req.resetType() == ResetType.Mounting) {
-			if (bodyParts.isEmpty()) {
-				api.server.scheduleResetTrackersMounting(RESET_SOURCE_NAME, ((req.delay() ?: resetsConfig.mountingResetDelay) * 1000).toLong())
+			val delay = if (req.hasDelay()) {
+				req.delay()
 			} else {
-				api.server.scheduleResetTrackersMounting(RESET_SOURCE_NAME, ((req.delay() ?: resetsConfig.mountingResetDelay) * 1000).toLong(), bodyParts.toList())
+				resetsConfig.mountingResetDelay
+			}
+			if (bodyParts.isEmpty()) {
+				api.server.scheduleResetTrackersMounting(RESET_SOURCE_NAME, (delay * 1000).toLong())
+			} else {
+				api.server.scheduleResetTrackersMounting(RESET_SOURCE_NAME, (delay * 1000).toLong(), bodyParts.toList())
 			}
 		}
 	}

server/core/src/main/java/dev/slimevr/protocol/rpc/settings/RPCSettingsBuilder.kt

@@ -209,6 +209,7 @@ fun createModelSettings(
 			humanPoseManager.getToggle(SkeletonConfigToggles.USE_POSITION),
 			humanPoseManager.getToggle(SkeletonConfigToggles.ENFORCE_CONSTRAINTS),
 			humanPoseManager.getToggle(SkeletonConfigToggles.CORRECT_CONSTRAINTS),
+			humanPoseManager.getToggle(SkeletonConfigToggles.FINGERS_MITTEN),
 		)
 	val ratiosOffset = ModelRatios
 		.createModelRatios(

server/core/src/main/java/dev/slimevr/protocol/rpc/settings/RPCSettingsHandler.kt

@@ -241,6 +241,7 @@ class RPCSettingsHandler(var rpcHandler: RPCHandler, var api: ProtocolAPI) {
 				hpm.setToggle(SkeletonConfigToggles.USE_POSITION, toggles.usePosition())
 				hpm.setToggle(SkeletonConfigToggles.ENFORCE_CONSTRAINTS, toggles.enforceConstraints())
 				hpm.setToggle(SkeletonConfigToggles.CORRECT_CONSTRAINTS, toggles.correctConstraints())
+				hpm.setToggle(SkeletonConfigToggles.FINGERS_MITTEN, toggles.fingersMitten())
 			}
 
 			if (ratios != null) {

server/core/src/main/java/dev/slimevr/serial/ProvisioningHandler.java

@@ -36,7 +36,7 @@ public class ProvisioningHandler implements SerialListener {
 		this.provisioningTickTimer.scheduleAtFixedRate(new TimerTask() {
 			@Override
 			public void run() {
-				if (!isRunning)
+				if (!isRunning || provisioningStatus == ProvisioningStatus.DONE)
 					return;
 				provisioningTick();
 			}

server/core/src/main/java/dev/slimevr/serial/SerialHandler.kt

@@ -30,14 +30,18 @@ abstract class SerialHandler {
 			Pair(0x1A86, 0x7523),
 			// CH341
 			Pair(0x1A86, 0x5523),
+			// CH343
+			Pair(0x1A86, 0x55D3),
 			// CH9102x
 			Pair(0x1A86, 0x55D4),
 			// / Silabs
 			// CP210x
 			Pair(0x10C4, 0xEA60),
 			// / Espressif
-			// ESP32-C3
+			// ESP32-S3 / ESP32-C3 / ESP32-C5 / ESP32-C6 / ESP32-C61 / ESP32-H2 / ESP32-P4
 			Pair(0x303A, 0x1001),
+			// ESP32-S2
+			Pair(0x303A, 0x0002),
 			// / FTDI
 			// FT232BM/L/Q, FT245BM/L/Q
 			// FT232RL/Q, FT245RL/Q

server/core/src/main/java/dev/slimevr/tracking/processor/config/SkeletonConfigToggles.java

@@ -17,7 +17,8 @@ public enum SkeletonConfigToggles {
 	SELF_LOCALIZATION(10, "Self Localization", "selfLocalization", false),
 	USE_POSITION(11, "Use Position", "usePosition", true),
 	ENFORCE_CONSTRAINTS(12, "Enforce Constraints", "enforceConstraints", true),
-	CORRECT_CONSTRAINTS(13, "Correct Constraints", "correctConstraints", true),;
+	CORRECT_CONSTRAINTS(13, "Correct Constraints", "correctConstraints", true),
+	FINGERS_MITTEN(14, "Fingers Mitten", "fingersMitten", true),;
 
 	public static final SkeletonConfigToggles[] values = values();
 	private static final Map<String, SkeletonConfigToggles> byStringVal = new HashMap<>();

server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/HumanSkeleton.kt

@@ -197,6 +197,7 @@ class HumanSkeleton(
 	private var forceArmsFromHMD = true
 	private var enforceConstraints = true
 	private var correctConstraints = true
+	private var fingersMitten = true
 
 	// Ratios
 	private var waistFromChestHipAveraging = 0f
@@ -1204,6 +1205,8 @@ class HumanSkeleton(
 			SkeletonConfigToggles.ENFORCE_CONSTRAINTS -> enforceConstraints = newValue
 
 			SkeletonConfigToggles.CORRECT_CONSTRAINTS -> correctConstraints = newValue
+
+			SkeletonConfigToggles.FINGERS_MITTEN -> fingersMitten = newValue
 		}
 	}
 

server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerResetsHandler.kt

@@ -24,8 +24,6 @@ class TrackerResetsHandler(val tracker: Tracker) {
 		Math.PI.toFloat(),
 		0f,
 	).toQuaternion()
-	private val QuarterPitch = Quaternion.rotationAroundXAxis(FastMath.HALF_PI)
-
 	private var driftAmount = 0f
 	private var averagedDriftQuat = Quaternion.IDENTITY
 	private var rotationSinceReset = Quaternion.IDENTITY
@@ -54,6 +52,16 @@ class TrackerResetsHandler(val tracker: Tracker) {
 
 	// Reference adjustment quats
 
+	/**
+	 * Gyro fix is set by full reset. This sets the current y rotation to 0, correcting
+	 * for initial yaw rotation and the rotation incurred by mounting orientation. This
+	 * is a local offset in rotation and does not affect the axes of rotation.
+	 *
+	 * This rotation is only used to compute [attachmentFix], otherwise [yawFix] would
+	 * correct for the same rotation.
+	 */
+	private var gyroFix = Quaternion.IDENTITY
+
 	/**
 	 * Attachment fix is set by full reset. This sets the current x and z rotations to
 	 * 0, correcting for initial pitch and roll rotation. This is a global offset in
@@ -180,9 +188,12 @@ class TrackerResetsHandler(val tracker: Tracker) {
 	/**
 	 * Get the reference adjusted accel.
 	 */
-	// All IMU axis corrections are inverse to undo `adjustToReference` after local yaw offsets are added
-	// Order is VERY important here! Please be extremely careful! >~>
-	fun getReferenceAdjustedAccel(rawRot: Quaternion, accel: Vector3): Vector3 = (adjustToReference(rawRot) * (attachmentFix * mountingOrientation * mountRotFix * tposeDownFix).inv()).sandwich(accel)
+	// TODO: Make this actually adjusted to the corrected IMU heading. The current
+	//  implementation for heading correction doesn't appear to be correct and may simply
+	//  make acceleration worse, so I'm just leaving this until we work that out. The
+	//  output of this will be world space, but with an unknown offset to heading (yaw).
+	//  - Butterscotch
+	fun getReferenceAdjustedAccel(rawRot: Quaternion, accel: Vector3): Vector3 = rawRot.sandwich(accel)
 
 	/**
 	 * Converts raw or filtered rotation into reference- and
@@ -191,17 +202,22 @@ class TrackerResetsHandler(val tracker: Tracker) {
 	 */
 	private fun adjustToReference(rotation: Quaternion): Quaternion {
 		var rot = rotation
-		// Correct for global pitch/roll offset
-		rot *= attachmentFix
-		// Correct for global yaw offset without affecting local yaw so we can change this
-		// later without invalidating local yaw offset corrections
+		// Align heading axis with bone space
 		if (!tracker.isHmd || tracker.trackerPosition != TrackerPosition.HEAD) {
-			rot = mountingOrientation.inv() * rot * mountingOrientation
+			rot *= mountingOrientation
 		}
-		rot = mountRotFix.inv() * rot * mountRotFix
-		// T-pose global correction
+		// Heading correction assuming manual orientation is correct
+		rot = gyroFix * rot
+		// Align attitude axes with bone space
+		rot *= attachmentFix
+		// Secondary heading axis alignment with bone space for automatic mounting
+		// Note: Applying an inverse amount of heading correction corresponding to the
+		//  axis alignment quaternion will leave the correction to another variable
+		rot = mountRotFix.inv() * (rot * mountRotFix)
+		// More attitude axes alignment specifically for the t-pose configuration, this
+		//  probably shouldn't be a separate variable from attachmentFix?
 		rot *= tposeDownFix
-		// Align local yaw with reference
+		// More heading correction
 		rot = yawFix * rot
 		rot = constraintFix * rot
 		return rot
@@ -211,6 +227,8 @@ class TrackerResetsHandler(val tracker: Tracker) {
 	 * Converts raw or filtered rotation into zero-reference-adjusted by
 	 * applying quaternions produced after full reset and yaw reset only
 	 */
+	// This is essentially just adjustToReference but aligning to quaternion identity
+	//  rather than to the bone.
 	private fun adjustToIdentity(rotation: Quaternion): Quaternion {
 		var rot = rotation
 		rot = gyroFixNoMounting * rot
@@ -265,23 +283,15 @@ class TrackerResetsHandler(val tracker: Tracker) {
 		lastResetQuaternion = oldRot
 
 		// Adjust raw rotation to mountingOrientation
-		val rotation = tracker.getRawRotation()
+		val mountingAdjustedRotation = tracker.getRawRotation() * mountingOrientation
 
 		// Gyrofix
-		val gyroFix = if (tracker.allowMounting || (tracker.trackerPosition == TrackerPosition.HEAD && !tracker.isHmd)) {
-			if (tracker.isComputed) {
-				fixGyroscope(rotation)
+		if (tracker.allowMounting || (tracker.trackerPosition == TrackerPosition.HEAD && !tracker.isHmd)) {
+			gyroFix = if (tracker.isComputed) {
+				fixGyroscope(tracker.getRawRotation())
 			} else {
-				if (tracker.trackerPosition.isFoot()) {
-					// Feet are rotated by 90 deg pitch, this means we're relying on IMU rotation
-					//  to be set correctly here.
-					fixGyroscope(rotation * tposeDownFix * QuarterPitch)
-				} else {
-					fixGyroscope(rotation * tposeDownFix)
-				}
+				fixGyroscope(mountingAdjustedRotation * tposeDownFix)
 			}
-		} else {
-			Quaternion.IDENTITY
 		}
 
 		// Mounting for computed trackers
@@ -296,7 +306,7 @@ class TrackerResetsHandler(val tracker: Tracker) {
 			if (resetHmdPitch) {
 				// Reset the HMD's pitch if it's assigned to head and resetHmdPitch is true
 				// Get rotation without yaw (make sure to use the raw rotation directly!)
-				val rotBuf = getYawQuaternion(rotation).inv() * rotation
+				val rotBuf = getYawQuaternion(tracker.getRawRotation()).inv() * tracker.getRawRotation()
 				// Isolate pitch
 				Quaternion(rotBuf.w, -rotBuf.x, 0f, 0f).unit()
 			} else {
@@ -304,7 +314,7 @@ class TrackerResetsHandler(val tracker: Tracker) {
 				Quaternion.IDENTITY
 			}
 		} else {
-			(gyroFix * rotation).inv()
+			fixAttachment(mountingAdjustedRotation)
 		}
 
 		// Rotate attachmentFix by 180 degrees as a workaround for t-pose (down)
@@ -316,7 +326,7 @@ class TrackerResetsHandler(val tracker: Tracker) {
 
 		// Don't adjust yaw if head and computed
 		if (tracker.trackerPosition != TrackerPosition.HEAD || !tracker.isComputed) {
-			yawFix = gyroFix * reference.project(Vector3.POS_Y).unit()
+			yawFix = fixYaw(mountingAdjustedRotation, reference)
 			tracker.yawResetSmoothing.reset()
 		}
 
@@ -360,7 +370,7 @@ class TrackerResetsHandler(val tracker: Tracker) {
 		lastResetQuaternion = oldRot
 
 		val yawFixOld = yawFix
-		yawFix = fixYaw(tracker.getRawRotation(), reference)
+		yawFix = fixYaw(tracker.getRawRotation() * mountingOrientation, reference)
 		tracker.yawResetSmoothing.reset()
 
 		makeIdentityAdjustmentQuatsYaw()
@@ -399,9 +409,9 @@ class TrackerResetsHandler(val tracker: Tracker) {
 		constraintFix = Quaternion.IDENTITY
 
 		// Get the current calibrated rotation
-		var rotBuf = adjustToDrift(tracker.getRawRotation())
+		var rotBuf = adjustToDrift(tracker.getRawRotation() * mountingOrientation)
+		rotBuf = gyroFix * rotBuf
 		rotBuf *= attachmentFix
-		rotBuf = mountingOrientation.inv() * rotBuf * mountingOrientation
 		rotBuf = yawFix * rotBuf
 
 		// Adjust buffer to reference
@@ -457,22 +467,14 @@ class TrackerResetsHandler(val tracker: Tracker) {
 		mountRotFix = Quaternion.IDENTITY
 	}
 
-	// EulerOrder.YXZ is actually better for gyroscope fix, as it can get yaw at any roll.
-	//  Consequentially, instead of the roll being limited, the pitch is limited to
-	//  90 degrees from the yaw plane. This means trackers may be mounted upside down
-	//  or with incorrectly configured IMU rotation, but we will need to compensate for
-	//  the pitch.
-	private fun fixGyroscope(sensorRotation: Quaternion): Quaternion = getYawQuaternion(sensorRotation, EulerOrder.YXZ).inv()
+	private fun fixGyroscope(sensorRotation: Quaternion): Quaternion = getYawQuaternion(sensorRotation).inv()
+
+	private fun fixAttachment(sensorRotation: Quaternion): Quaternion = (gyroFix * sensorRotation).inv()
 
 	private fun fixYaw(sensorRotation: Quaternion, reference: Quaternion): Quaternion {
-		var rot = sensorRotation * attachmentFix
-		// We need to fix the global yaw offset for the euler yaw calculation
-		if (!tracker.isHmd || tracker.trackerPosition != TrackerPosition.HEAD) {
-			rot = mountingOrientation.inv() * rot * mountingOrientation
-		}
-		rot = mountRotFix.inv() * rot * mountRotFix
-		// TODO: Get diff from ref to rot, use euler angle (YZX) yaw as output.
-		//  This prevents pitch and roll from affecting the alignment.
+		var rot = gyroFix * sensorRotation
+		rot *= attachmentFix
+		rot = mountRotFix.inv() * (rot * mountRotFix)
 		rot = getYawQuaternion(rot)
 		return rot.inv() * reference.project(Vector3.POS_Y).unit()
 	}
@@ -483,7 +485,7 @@ class TrackerResetsHandler(val tracker: Tracker) {
 	// In both cases, the isolated yaw value changes
 	// with the tracker's roll when pointing forward.
 	// calling twinNearest() makes sure this rotation has the wanted polarity (+-).
-	private fun getYawQuaternion(rot: Quaternion, order: EulerOrder = EulerOrder.YZX): Quaternion = EulerAngles(order, 0f, rot.toEulerAngles(order).y, 0f).toQuaternion().twinNearest(rot)
+	private fun getYawQuaternion(rot: Quaternion): Quaternion = EulerAngles(EulerOrder.YZX, 0f, rot.toEulerAngles(EulerOrder.YZX).y, 0f).toQuaternion().twinNearest(rot)
 
 	private fun makeIdentityAdjustmentQuatsFull() {
 		val sensorRotation = tracker.getRawRotation()

server/core/src/main/java/dev/slimevr/trackingchecklist/TrackingChecklistManager.kt

@@ -11,6 +11,7 @@ import dev.slimevr.tracking.trackers.Tracker
 import dev.slimevr.tracking.trackers.TrackerStatus
 import dev.slimevr.tracking.trackers.TrackerUtils
 import dev.slimevr.tracking.trackers.udp.TrackerDataType
+import io.github.axisangles.ktmath.Quaternion
 import solarxr_protocol.datatypes.DeviceIdT
 import solarxr_protocol.datatypes.TrackerIdT
 import solarxr_protocol.rpc.*
@@ -199,7 +200,8 @@ class TrackingChecklistManager(private val vrServer: VRServer) : VRCConfigListen
 		}
 		// We ask for a full reset if you need to do mounting calibration but cant because you haven't done full reset in a while
 		// or if you have trackers that need reset after re-assigning
-		val needFullReset = (!resetMountingCompleted && !vrServer.serverGuards.canDoMounting) || trackerRequireReset.isNotEmpty()
+		val usingSavedCalibration = vrServer.configManager.vrConfig.resetsConfig.saveMountingReset && imuTrackers.all { it.resetsHandler.mountRotFix != Quaternion.IDENTITY }
+		val needFullReset = (vrServer.configManager.vrConfig.resetsConfig.lastMountingMethod == MountingMethods.AUTOMATIC && !usingSavedCalibration && !resetMountingCompleted && !vrServer.serverGuards.canDoMounting) || trackerRequireReset.isNotEmpty()
 		updateValidity(TrackingChecklistStepId.FULL_RESET, !needFullReset) {
 			it.enabled = imuTrackers.isNotEmpty()
 			if (trackerRequireReset.isNotEmpty()) {

server/core/src/test/java/dev/slimevr/unit/SkeletonResetTests.kt

@@ -93,13 +93,13 @@ class SkeletonResetTests {
 				TrackerPosition.HIP,
 				TrackerPosition.LEFT_LOWER_LEG,
 				TrackerPosition.RIGHT_LOWER_LEG,
-				-> mountRot
+				-> mountRot * Quaternion.SLIMEVR.FRONT
 
 				TrackerPosition.LEFT_UPPER_LEG,
 				TrackerPosition.RIGHT_UPPER_LEG,
-				-> mountRot * Quaternion.SLIMEVR.FRONT
+				-> mountRot
 
-				else -> mountRot * Quaternion.SLIMEVR.FRONT
+				else -> mountRot
 			}
 			val actualMounting = tracker.resetsHandler.mountRotFix
 

server/desktop/src/main/java/dev/slimevr/desktop/platform/ProtobufBridge.kt

@@ -7,6 +7,7 @@ import dev.slimevr.desktop.platform.ProtobufMessages.*
 import dev.slimevr.tracking.trackers.Tracker
 import dev.slimevr.tracking.trackers.TrackerStatus
 import dev.slimevr.tracking.trackers.TrackerStatus.Companion.getById
+import dev.slimevr.tracking.trackers.TrackerUtils
 import dev.slimevr.util.ann.VRServerThread
 import io.eiren.util.ann.Synchronize
 import io.eiren.util.ann.ThreadSafe
@@ -218,6 +219,11 @@ abstract class ProtobufBridge(@JvmField protected val bridgeName: String) : ISte
 
 			"mounting_reset" -> instance.resetTrackersMounting(resetSourceName)
 
+			"feet_mounting_reset" -> instance.resetTrackersMounting(
+				resetSourceName,
+				TrackerUtils.feetsBodyParts,
+			)
+
 			"pause_tracking" ->
 				instance
 					.togglePauseTracking(resetSourceName)

server/desktop/src/main/java/dev/slimevr/desktop/platform/ProtobufMessages.java

@@ -3558,6 +3558,20 @@ public final class ProtobufMessages {
 		 * @return The trackerRole.
 		 */
 		int getTrackerRole();
+
+		/**
+		 * <code>string manufacturer = 5;</code>
+		 * 
+		 * @return The manufacturer.
+		 */
+		java.lang.String getManufacturer();
+
+		/**
+		 * <code>string manufacturer = 5;</code>
+		 * 
+		 * @return The bytes for manufacturer.
+		 */
+		com.google.protobuf.ByteString getManufacturerBytes();
 	}
 
 	/**
@@ -3588,6 +3602,7 @@ public final class ProtobufMessages {
 		private TrackerAdded() {
 			trackerSerial_ = "";
 			trackerName_ = "";
+			manufacturer_ = "";
 		}
 
 		public static final com.google.protobuf.Descriptors.Descriptor getDescriptor() {
@@ -3713,6 +3728,48 @@ public final class ProtobufMessages {
 			return trackerRole_;
 		}
 
+		public static final int MANUFACTURER_FIELD_NUMBER = 5;
+		@SuppressWarnings("serial")
+		private volatile java.lang.Object manufacturer_ = "";
+
+		/**
+		 * <code>string manufacturer = 5;</code>
+		 * 
+		 * @return The manufacturer.
+		 */
+		@java.lang.Override
+		public java.lang.String getManufacturer() {
+			java.lang.Object ref = manufacturer_;
+			if (ref instanceof java.lang.String) {
+				return (java.lang.String) ref;
+			} else {
+				com.google.protobuf.ByteString bs = (com.google.protobuf.ByteString) ref;
+				java.lang.String s = bs.toStringUtf8();
+				manufacturer_ = s;
+				return s;
+			}
+		}
+
+		/**
+		 * <code>string manufacturer = 5;</code>
+		 * 
+		 * @return The bytes for manufacturer.
+		 */
+		@java.lang.Override
+		public com.google.protobuf.ByteString getManufacturerBytes() {
+			java.lang.Object ref = manufacturer_;
+			if (ref instanceof java.lang.String) {
+				com.google.protobuf.ByteString b = com.google.protobuf.ByteString
+					.copyFromUtf8(
+						(java.lang.String) ref
+					);
+				manufacturer_ = b;
+				return b;
+			} else {
+				return (com.google.protobuf.ByteString) ref;
+			}
+		}
+
 		private byte memoizedIsInitialized = -1;
 
 		@java.lang.Override
@@ -3742,6 +3799,9 @@ public final class ProtobufMessages {
 			if (trackerRole_ != 0) {
 				output.writeInt32(4, trackerRole_);
 			}
+			if (!com.google.protobuf.GeneratedMessage.isStringEmpty(manufacturer_)) {
+				com.google.protobuf.GeneratedMessage.writeString(output, 5, manufacturer_);
+			}
 			getUnknownFields().writeTo(output);
 		}
 
@@ -3766,6 +3826,9 @@ public final class ProtobufMessages {
 				size += com.google.protobuf.CodedOutputStream
 					.computeInt32Size(4, trackerRole_);
 			}
+			if (!com.google.protobuf.GeneratedMessage.isStringEmpty(manufacturer_)) {
+				size += com.google.protobuf.GeneratedMessage.computeStringSize(5, manufacturer_);
+			}
 			size += getUnknownFields().getSerializedSize();
 			memoizedSize = size;
 			return size;
@@ -3801,6 +3864,11 @@ public final class ProtobufMessages {
 					!= other.getTrackerRole()
 			)
 				return false;
+			if (
+				!getManufacturer()
+					.equals(other.getManufacturer())
+			)
+				return false;
 			if (!getUnknownFields().equals(other.getUnknownFields()))
 				return false;
 			return true;
@@ -3821,6 +3889,8 @@ public final class ProtobufMessages {
 			hash = (53 * hash) + getTrackerName().hashCode();
 			hash = (37 * hash) + TRACKER_ROLE_FIELD_NUMBER;
 			hash = (53 * hash) + getTrackerRole();
+			hash = (37 * hash) + MANUFACTURER_FIELD_NUMBER;
+			hash = (53 * hash) + getManufacturer().hashCode();
 			hash = (29 * hash) + getUnknownFields().hashCode();
 			memoizedHashCode = hash;
 			return hash;
@@ -3993,6 +4063,7 @@ public final class ProtobufMessages {
 				trackerSerial_ = "";
 				trackerName_ = "";
 				trackerRole_ = 0;
+				manufacturer_ = "";
 				return this;
 			}
 
@@ -4044,6 +4115,9 @@ public final class ProtobufMessages {
 				if (((from_bitField0_ & 0x00000008) != 0)) {
 					result.trackerRole_ = trackerRole_;
 				}
+				if (((from_bitField0_ & 0x00000010) != 0)) {
+					result.manufacturer_ = manufacturer_;
+				}
 			}
 
 			@java.lang.Override
@@ -4083,6 +4157,11 @@ public final class ProtobufMessages {
 				if (other.getTrackerRole() != 0) {
 					setTrackerRole(other.getTrackerRole());
 				}
+				if (!other.getManufacturer().isEmpty()) {
+					manufacturer_ = other.manufacturer_;
+					bitField0_ |= 0x00000010;
+					onChanged();
+				}
 				this.mergeUnknownFields(other.getUnknownFields());
 				onChanged();
 				return this;
@@ -4130,6 +4209,11 @@ public final class ProtobufMessages {
 								bitField0_ |= 0x00000008;
 								break;
 							} // case 32
+							case 42: {
+								manufacturer_ = input.readStringRequireUtf8();
+								bitField0_ |= 0x00000010;
+								break;
+							} // case 42
 							default: {
 								if (!super.parseUnknownField(input, extensionRegistry, tag)) {
 									done = true; // was an endgroup tag
@@ -4398,6 +4482,93 @@ public final class ProtobufMessages {
 				return this;
 			}
 
+			private java.lang.Object manufacturer_ = "";
+
+			/**
+			 * <code>string manufacturer = 5;</code>
+			 * 
+			 * @return The manufacturer.
+			 */
+			public java.lang.String getManufacturer() {
+				java.lang.Object ref = manufacturer_;
+				if (!(ref instanceof java.lang.String)) {
+					com.google.protobuf.ByteString bs = (com.google.protobuf.ByteString) ref;
+					java.lang.String s = bs.toStringUtf8();
+					manufacturer_ = s;
+					return s;
+				} else {
+					return (java.lang.String) ref;
+				}
+			}
+
+			/**
+			 * <code>string manufacturer = 5;</code>
+			 * 
+			 * @return The bytes for manufacturer.
+			 */
+			public com.google.protobuf.ByteString getManufacturerBytes() {
+				java.lang.Object ref = manufacturer_;
+				if (ref instanceof String) {
+					com.google.protobuf.ByteString b = com.google.protobuf.ByteString
+						.copyFromUtf8(
+							(java.lang.String) ref
+						);
+					manufacturer_ = b;
+					return b;
+				} else {
+					return (com.google.protobuf.ByteString) ref;
+				}
+			}
+
+			/**
+			 * <code>string manufacturer = 5;</code>
+			 * 
+			 * @param value The manufacturer to set.
+			 * @return This builder for chaining.
+			 */
+			public Builder setManufacturer(
+				java.lang.String value
+			) {
+				if (value == null) {
+					throw new NullPointerException();
+				}
+				manufacturer_ = value;
+				bitField0_ |= 0x00000010;
+				onChanged();
+				return this;
+			}
+
+			/**
+			 * <code>string manufacturer = 5;</code>
+			 * 
+			 * @return This builder for chaining.
+			 */
+			public Builder clearManufacturer() {
+				manufacturer_ = getDefaultInstance().getManufacturer();
+				bitField0_ = (bitField0_ & ~0x00000010);
+				onChanged();
+				return this;
+			}
+
+			/**
+			 * <code>string manufacturer = 5;</code>
+			 * 
+			 * @param value The bytes for manufacturer to set.
+			 * @return This builder for chaining.
+			 */
+			public Builder setManufacturerBytes(
+				com.google.protobuf.ByteString value
+			) {
+				if (value == null) {
+					throw new NullPointerException();
+				}
+				checkByteStringIsUtf8(value);
+				manufacturer_ = value;
+				bitField0_ |= 0x00000010;
+				onChanged();
+				return this;
+			}
+
 			// @@protoc_insertion_point(builder_scope:messages.TrackerAdded)
 		}
 
@@ -8872,53 +9043,55 @@ public final class ProtobufMessages {
 				+
 				"ctionArgumentsEntry\0326\n\024ActionArgumentsEn"
 				+
-				"try\022\013\n\003key\030\001 \001(\t\022\r\n\005value\030\002 \001(\t:\0028\001\"f\n\014T"
+				"try\022\013\n\003key\030\001 \001(\t\022\r\n\005value\030\002 \001(\t:\0028\001\"|\n\014T"
 				+
 				"rackerAdded\022\022\n\ntracker_id\030\001 \001(\005\022\026\n\016track"
 				+
 				"er_serial\030\002 \001(\t\022\024\n\014tracker_name\030\003 \001(\t\022\024\n"
 				+
-				"\014tracker_role\030\004 \001(\005\"\374\002\n\rTrackerStatus\022\022\n"
+				"\014tracker_role\030\004 \001(\005\022\024\n\014manufacturer\030\005 \001("
 				+
-				"\ntracker_id\030\001 \001(\005\022.\n\006status\030\002 \001(\0162\036.mess"
+				"\t\"\374\002\n\rTrackerStatus\022\022\n\ntracker_id\030\001 \001(\005\022"
 				+
-				"ages.TrackerStatus.Status\0221\n\005extra\030\003 \003(\013"
+				".\n\006status\030\002 \001(\0162\036.messages.TrackerStatus"
 				+
-				"2\".messages.TrackerStatus.ExtraEntry\022;\n\n"
+				".Status\0221\n\005extra\030\003 \003(\0132\".messages.Tracke"
 				+
-				"confidence\030\004 \001(\0162\".messages.TrackerStatu"
+				"rStatus.ExtraEntry\022;\n\nconfidence\030\004 \001(\0162\""
 				+
-				"s.ConfidenceH\000\210\001\001\032,\n\nExtraEntry\022\013\n\003key\030\001"
+				".messages.TrackerStatus.ConfidenceH\000\210\001\001\032"
 				+
-				" \001(\t\022\r\n\005value\030\002 \001(\t:\0028\001\"E\n\006Status\022\020\n\014DIS"
+				",\n\nExtraEntry\022\013\n\003key\030\001 \001(\t\022\r\n\005value\030\002 \001("
 				+
-				"CONNECTED\020\000\022\006\n\002OK\020\001\022\010\n\004BUSY\020\002\022\t\n\005ERROR\020\003"
+				"\t:\0028\001\"E\n\006Status\022\020\n\014DISCONNECTED\020\000\022\006\n\002OK\020"
 				+
-				"\022\014\n\010OCCLUDED\020\004\"3\n\nConfidence\022\006\n\002NO\020\000\022\007\n\003"
+				"\001\022\010\n\004BUSY\020\002\022\t\n\005ERROR\020\003\022\014\n\010OCCLUDED\020\004\"3\n\n"
 				+
-				"LOW\020\001\022\n\n\006MEDIUM\020\005\022\010\n\004HIGH\020\nB\r\n\013_confiden"
+				"Confidence\022\006\n\002NO\020\000\022\007\n\003LOW\020\001\022\n\n\006MEDIUM\020\005\022"
 				+
-				"ce\"I\n\007Battery\022\022\n\ntracker_id\030\001 \001(\005\022\025\n\rbat"
+				"\010\n\004HIGH\020\nB\r\n\013_confidence\"I\n\007Battery\022\022\n\nt"
 				+
-				"tery_level\030\002 \001(\002\022\023\n\013is_charging\030\003 \001(\010\"\241\002"
+				"racker_id\030\001 \001(\005\022\025\n\rbattery_level\030\002 \001(\002\022\023"
 				+
-				"\n\017ProtobufMessage\022&\n\010position\030\001 \001(\0132\022.me"
+				"\n\013is_charging\030\003 \001(\010\"\241\002\n\017ProtobufMessage\022"
 				+
-				"ssages.PositionH\000\022+\n\013user_action\030\002 \001(\0132\024"
+				"&\n\010position\030\001 \001(\0132\022.messages.PositionH\000\022"
 				+
-				".messages.UserActionH\000\022/\n\rtracker_added\030"
+				"+\n\013user_action\030\002 \001(\0132\024.messages.UserActi"
 				+
-				"\003 \001(\0132\026.messages.TrackerAddedH\000\0221\n\016track"
+				"onH\000\022/\n\rtracker_added\030\003 \001(\0132\026.messages.T"
 				+
-				"er_status\030\004 \001(\0132\027.messages.TrackerStatus"
+				"rackerAddedH\000\0221\n\016tracker_status\030\004 \001(\0132\027."
 				+
-				"H\000\022$\n\007battery\030\005 \001(\0132\021.messages.BatteryH\000"
+				"messages.TrackerStatusH\000\022$\n\007battery\030\005 \001("
 				+
-				"\022$\n\007version\030\006 \001(\0132\021.messages.VersionH\000B\t"
+				"\0132\021.messages.BatteryH\000\022$\n\007version\030\006 \001(\0132"
 				+
-				"\n\007messageB2\n\034dev.slimevr.desktop.platfor"
+				"\021.messages.VersionH\000B\t\n\007messageB2\n\034dev.s"
 				+
-				"mB\020ProtobufMessagesH\003b\006proto3"
+				"limevr.desktop.platformB\020ProtobufMessage"
+				+
+				"sH\003b\006proto3"
 		};
 		descriptor = com.google.protobuf.Descriptors.FileDescriptor
 			.internalBuildGeneratedFileFrom(
@@ -8957,7 +9130,8 @@ public final class ProtobufMessages {
 		internal_static_messages_TrackerAdded_descriptor = getDescriptor().getMessageTypes().get(4);
 		internal_static_messages_TrackerAdded_fieldAccessorTable = new com.google.protobuf.GeneratedMessage.FieldAccessorTable(
 			internal_static_messages_TrackerAdded_descriptor,
-			new java.lang.String[] { "TrackerId", "TrackerSerial", "TrackerName", "TrackerRole", }
+			new java.lang.String[] { "TrackerId", "TrackerSerial", "TrackerName", "TrackerRole",
+				"Manufacturer", }
 		);
 		internal_static_messages_TrackerStatus_descriptor = getDescriptor()
 			.getMessageTypes()

server/desktop/src/main/java/dev/slimevr/desktop/platform/SteamVRBridge.kt

@@ -147,23 +147,13 @@ abstract class SteamVRBridge(
 		val device = instance.deviceManager
 			.createDevice(
 				trackerAdded.trackerName,
-				trackerAdded.trackerSerial,
-				"OpenVR", // TODO : We need the manufacturer
+				null,
+				trackerAdded.manufacturer.ifEmpty { "OpenVR" },
 			)
 
 		// Display name, needsReset and isHmd
-		val displayName: String
-		val isHmd = if (trackerAdded.trackerId == 0) {
-			displayName = if (trackerAdded.trackerName == "HMD") {
-				"SteamVR Driver HMD"
-			} else {
-				"Feeder App HMD"
-			}
-			true
-		} else {
-			displayName = trackerAdded.trackerName
-			false
-		}
+		val displayName: String = trackerAdded.trackerName
+		val isHmd = trackerAdded.trackerId == 0
 
 		// trackerPosition
 		val role = getById(trackerAdded.trackerRole)