Implement crude CSV tracker data collection

CONTRIBUTING.md

@@ -116,9 +116,3 @@ 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

@@ -662,8 +662,6 @@ 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

@@ -18,8 +18,6 @@ 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"
 
@@ -28,10 +26,8 @@ SUBSYSTEMS=="usb", ATTRS{idVendor}=="1A86", ATTRS{idProduct}=="55D4", MODE="0660
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="10C4", ATTRS{idProduct}=="EA60", MODE="0660", TAG+="uaccess"
 
 ## Espressif
-# ESP32-S3 / ESP32-C3 / ESP32-C5 / ESP32-C6 / ESP32-C61 / ESP32-H2 / ESP32-P4
+# ESP32-C3
 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

@@ -75,7 +75,6 @@ export type SettingsForm = {
     usePosition: boolean;
     enforceConstraints: boolean;
     correctConstraints: boolean;
-    fingersMitten: boolean;
   };
   ratios: {
     imputeWaistFromChestHip: number;
@@ -135,7 +134,6 @@ const defaultValues: SettingsForm = {
     usePosition: true,
     enforceConstraints: true,
     correctConstraints: true,
-    fingersMitten: false,
   },
   ratios: {
     imputeWaistFromChestHip: 0.3,
@@ -233,7 +231,6 @@ 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;
     }
 
@@ -1039,15 +1036,6 @@ 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"
@@ -223,38 +223,34 @@ export function TrackerSettingsPage() {
                     whitespace="whitespace-pre-wrap"
                     textAlign="text-end"
                   >
-                    {tracker?.device?.hardwareInfo?.firmwareVersion
-                      ? `v${tracker?.device?.hardwareInfo?.firmwareVersion}`
-                      : '--'}
+                    v{tracker?.device?.hardwareInfo?.firmwareVersion}
                   </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 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
@@ -293,7 +289,7 @@ 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">
@@ -321,11 +317,10 @@ export function TrackerSettingsPage() {
             <div className="flex justify-between">
               <Typography>{l10n.getString('tracker-infos-url')}</Typography>
               <Typography>
-                {tracker?.device?.hardwareInfo?.ipAddress?.addr
-                  ? `udp://${IPv4.fromNumber(
-                      tracker?.device?.hardwareInfo?.ipAddress?.addr || 0
-                    ).toString()}`
-                  : '--'}
+                udp://
+                {IPv4.fromNumber(
+                  tracker?.device?.hardwareInfo?.ipAddress?.addr || 0
+                ).toString()}
               </Typography>
             </div>
             <div className="flex justify-between">

gui/src/hooks/firmware-update.ts

@@ -129,6 +129,9 @@ 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')
   ) {
@@ -140,14 +143,6 @@ 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/VRServer.kt

@@ -32,6 +32,7 @@ import dev.slimevr.tracking.processor.skeleton.HumanSkeleton
 import dev.slimevr.tracking.trackers.*
 import dev.slimevr.tracking.trackers.udp.TrackersUDPServer
 import dev.slimevr.trackingchecklist.TrackingChecklistManager
+import dev.slimevr.util.TrackerLogger
 import dev.slimevr.util.ann.VRServerThread
 import dev.slimevr.websocketapi.WebSocketVRBridge
 import io.eiren.util.ann.ThreadSafe
@@ -125,6 +126,8 @@ class VRServer @JvmOverloads constructor(
 
 	val serverGuards = ServerGuards()
 
+	val trackerLogger = TrackerLogger()
+
 	init {
 		// UwU
 		deviceManager = DeviceManager(this)
@@ -179,6 +182,8 @@ class VRServer @JvmOverloads constructor(
 			registerTracker(tracker)
 		}
 
+		addNewTrackerConsumer(trackerLogger)
+
 		instance = this
 	}
 
@@ -259,6 +264,7 @@ class VRServer @JvmOverloads constructor(
 			}
 			vrcOSCHandler.update()
 			vMCHandler.update()
+			trackerLogger.update()
 			// final long time = System.currentTimeMillis() - start;
 			try {
 				sleep(1) // 1000Hz

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

@@ -349,9 +349,6 @@ 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

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

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

@@ -209,7 +209,6 @@ 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

@@ -241,7 +241,6 @@ 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 || provisioningStatus == ProvisioningStatus.DONE)
+				if (!isRunning)
 					return;
 				provisioningTick();
 			}

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

@@ -30,18 +30,14 @@ 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-S3 / ESP32-C3 / ESP32-C5 / ESP32-C6 / ESP32-C61 / ESP32-H2 / ESP32-P4
+			// ESP32-C3
 			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

@@ -17,8 +17,7 @@ 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),
-	FINGERS_MITTEN(14, "Fingers Mitten", "fingersMitten", true),;
+	CORRECT_CONSTRAINTS(13, "Correct Constraints", "correctConstraints", 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

@@ -197,7 +197,6 @@ class HumanSkeleton(
 	private var forceArmsFromHMD = true
 	private var enforceConstraints = true
 	private var correctConstraints = true
-	private var fingersMitten = true
 
 	// Ratios
 	private var waistFromChestHipAveraging = 0f
@@ -1205,8 +1204,6 @@ 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/Tracker.kt

@@ -120,6 +120,8 @@ class Tracker @JvmOverloads constructor(
 	var packetsReceived: Int? = null
 	var packetsLost: Int? = null
 	var packetLoss: Float? = null
+	var windowsHit: Int? = null
+	var windowsMiss: Int? = null
 	var customName: String? = null
 	var magStatus: MagnetometerStatus = magStatus
 		private set

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

@@ -24,6 +24,8 @@ 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
@@ -52,16 +54,6 @@ 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
@@ -188,12 +180,9 @@ class TrackerResetsHandler(val tracker: Tracker) {
 	/**
 	 * Get the reference adjusted 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)
+	// 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)
 
 	/**
 	 * Converts raw or filtered rotation into reference- and
@@ -202,22 +191,17 @@ class TrackerResetsHandler(val tracker: Tracker) {
 	 */
 	private fun adjustToReference(rotation: Quaternion): Quaternion {
 		var rot = rotation
-		// Align heading axis with bone space
-		if (!tracker.isHmd || tracker.trackerPosition != TrackerPosition.HEAD) {
-			rot *= mountingOrientation
-		}
-		// Heading correction assuming manual orientation is correct
-		rot = gyroFix * rot
-		// Align attitude axes with bone space
+		// Correct for global pitch/roll offset
 		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?
+		// Correct for global yaw offset without affecting local yaw so we can change this
+		// later without invalidating local yaw offset corrections
+		if (!tracker.isHmd || tracker.trackerPosition != TrackerPosition.HEAD) {
+			rot = mountingOrientation.inv() * rot * mountingOrientation
+		}
+		rot = mountRotFix.inv() * rot * mountRotFix
+		// T-pose global correction
 		rot *= tposeDownFix
-		// More heading correction
+		// Align local yaw with reference
 		rot = yawFix * rot
 		rot = constraintFix * rot
 		return rot
@@ -227,8 +211,6 @@ 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
@@ -283,15 +265,23 @@ class TrackerResetsHandler(val tracker: Tracker) {
 		lastResetQuaternion = oldRot
 
 		// Adjust raw rotation to mountingOrientation
-		val mountingAdjustedRotation = tracker.getRawRotation() * mountingOrientation
+		val rotation = tracker.getRawRotation()
 
 		// Gyrofix
-		if (tracker.allowMounting || (tracker.trackerPosition == TrackerPosition.HEAD && !tracker.isHmd)) {
-			gyroFix = if (tracker.isComputed) {
-				fixGyroscope(tracker.getRawRotation())
+		val gyroFix = if (tracker.allowMounting || (tracker.trackerPosition == TrackerPosition.HEAD && !tracker.isHmd)) {
+			if (tracker.isComputed) {
+				fixGyroscope(rotation)
 			} else {
-				fixGyroscope(mountingAdjustedRotation * tposeDownFix)
+				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)
+				}
 			}
+		} else {
+			Quaternion.IDENTITY
 		}
 
 		// Mounting for computed trackers
@@ -306,7 +296,7 @@ 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(tracker.getRawRotation()).inv() * tracker.getRawRotation()
+				val rotBuf = getYawQuaternion(rotation).inv() * rotation
 				// Isolate pitch
 				Quaternion(rotBuf.w, -rotBuf.x, 0f, 0f).unit()
 			} else {
@@ -314,7 +304,7 @@ class TrackerResetsHandler(val tracker: Tracker) {
 				Quaternion.IDENTITY
 			}
 		} else {
-			fixAttachment(mountingAdjustedRotation)
+			(gyroFix * rotation).inv()
 		}
 
 		// Rotate attachmentFix by 180 degrees as a workaround for t-pose (down)
@@ -326,7 +316,7 @@ class TrackerResetsHandler(val tracker: Tracker) {
 
 		// Don't adjust yaw if head and computed
 		if (tracker.trackerPosition != TrackerPosition.HEAD || !tracker.isComputed) {
-			yawFix = fixYaw(mountingAdjustedRotation, reference)
+			yawFix = gyroFix * reference.project(Vector3.POS_Y).unit()
 			tracker.yawResetSmoothing.reset()
 		}
 
@@ -370,7 +360,7 @@ class TrackerResetsHandler(val tracker: Tracker) {
 		lastResetQuaternion = oldRot
 
 		val yawFixOld = yawFix
-		yawFix = fixYaw(tracker.getRawRotation() * mountingOrientation, reference)
+		yawFix = fixYaw(tracker.getRawRotation(), reference)
 		tracker.yawResetSmoothing.reset()
 
 		makeIdentityAdjustmentQuatsYaw()
@@ -409,9 +399,9 @@ class TrackerResetsHandler(val tracker: Tracker) {
 		constraintFix = Quaternion.IDENTITY
 
 		// Get the current calibrated rotation
-		var rotBuf = adjustToDrift(tracker.getRawRotation() * mountingOrientation)
-		rotBuf = gyroFix * rotBuf
+		var rotBuf = adjustToDrift(tracker.getRawRotation())
 		rotBuf *= attachmentFix
+		rotBuf = mountingOrientation.inv() * rotBuf * mountingOrientation
 		rotBuf = yawFix * rotBuf
 
 		// Adjust buffer to reference
@@ -467,14 +457,22 @@ class TrackerResetsHandler(val tracker: Tracker) {
 		mountRotFix = Quaternion.IDENTITY
 	}
 
-	private fun fixGyroscope(sensorRotation: Quaternion): Quaternion = getYawQuaternion(sensorRotation).inv()
-
-	private fun fixAttachment(sensorRotation: Quaternion): Quaternion = (gyroFix * sensorRotation).inv()
+	// 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 fixYaw(sensorRotation: Quaternion, reference: Quaternion): Quaternion {
-		var rot = gyroFix * sensorRotation
-		rot *= attachmentFix
-		rot = mountRotFix.inv() * (rot * mountRotFix)
+		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.
 		rot = getYawQuaternion(rot)
 		return rot.inv() * reference.project(Vector3.POS_Y).unit()
 	}
@@ -485,7 +483,7 @@ 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): Quaternion = EulerAngles(EulerOrder.YZX, 0f, rot.toEulerAngles(EulerOrder.YZX).y, 0f).toQuaternion().twinNearest(rot)
+	private fun getYawQuaternion(rot: Quaternion, order: EulerOrder = EulerOrder.YZX): Quaternion = EulerAngles(order, 0f, rot.toEulerAngles(order).y, 0f).toQuaternion().twinNearest(rot)
 
 	private fun makeIdentityAdjustmentQuatsFull() {
 		val sensorRotation = tracker.getRawRotation()

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

@@ -321,6 +321,8 @@ class HIDCommon {
 				tracker.packetsReceived = packets_received
 				tracker.packetsLost = packets_lost
 				tracker.packetLoss = if (packets_lost == 0) 0.0f else packets_lost.toFloat() / (packets_received + packets_lost).toFloat()
+				tracker.windowsHit = windows_hit
+				tracker.windowsMiss = windows_missed
 			}
 
 			// Assign rotation and acceleration

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

@@ -11,7 +11,6 @@ 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.*
@@ -200,8 +199,7 @@ 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 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()
+		val needFullReset = (!resetMountingCompleted && !vrServer.serverGuards.canDoMounting) || trackerRequireReset.isNotEmpty()
 		updateValidity(TrackingChecklistStepId.FULL_RESET, !needFullReset) {
 			it.enabled = imuTrackers.isNotEmpty()
 			if (trackerRequireReset.isNotEmpty()) {

server/core/src/main/java/dev/slimevr/util/TrackerLogger.kt

@@ -0,0 +1,129 @@
+package dev.slimevr.util
+
+import dev.slimevr.SLIMEVR_IDENTIFIER
+import dev.slimevr.VRServer
+import dev.slimevr.tracking.trackers.Tracker
+import io.eiren.util.OperatingSystem
+import io.eiren.util.Util
+import java.io.File
+import java.io.FileWriter
+import java.time.LocalDateTime
+import java.time.format.DateTimeFormatter
+import java.util.function.Consumer
+
+class TrackerLogger : Consumer<Tracker> {
+
+	var saveLogs = true
+	private var file: FileWriter? = null
+	private var lastSaved = 0L
+	val saveInterval = 100
+
+	fun update() {
+		if (saveLogs) {
+			if (file == null) {
+				val dir = OperatingSystem.resolveLogDirectory(SLIMEVR_IDENTIFIER)
+					?.toFile()?.absoluteFile
+					?: File("").absoluteFile
+				file = FileWriter(
+					File(
+						dir,
+						DateTimeFormatter.ofPattern("yyyy-MM-dd_HH-mm-ss").format(
+							LocalDateTime.now()
+						) + ".csv"
+					)
+				)
+				writeCSVHeader()
+			}
+			if(lastSaved + saveInterval < System.currentTimeMillis() && VRServer.instance.allTrackers.isNotEmpty()) {
+				lastSaved = System.currentTimeMillis()
+				var isFirst = true
+				VRServer.instance.allTrackers.forEach {
+					if(it.isInternal || it.isComputed)
+						return@forEach
+					if (!isFirst) {
+						file!!.write(';'.code)
+					}
+					isFirst = false
+					file!!.write(
+						"\"" + it.position.x + "\";"
+							+ "\"" + it.position.y + "\";"
+							+ "\"" + it.position.z + "\";"
+							+ "\"" + it.getRotation().w + "\";"
+							+ "\"" + it.getRotation().x + "\";"
+							+ "\"" + it.getRotation().y + "\";"
+							+ "\"" + it.getRotation().z + "\";"
+							+ "\"" + it.getAcceleration().x + "\";"
+							+ "\"" + it.getAcceleration().y + "\";"
+							+ "\"" + it.getAcceleration().z + "\";"
+							+ "\"" + it.getMagVector().x + "\";"
+							+ "\"" + it.getMagVector().y + "\";"
+							+ "\"" + it.getMagVector().z + "\";"
+							+ "\"" + it.batteryVoltage + "\";"
+							+ "\"" + it.batteryLevel + "\";"
+							+ "\"" + it.signalStrength + "\";"
+							+ "\"" + it.ping + "\";"
+							+ "\"" + it.packetsReceived + "\";"
+							+ "\"" + it.packetsLost + "\";"
+							+ "\"" + it.packetLoss + "\";"
+							+ "\"" + it.windowsHit + "\";"
+							+ "\"" + it.windowsMiss + "\""
+					)
+				}
+				file!!.write('\n'.code)
+				file!!.flush()
+			}
+		} else {
+			if(file != null) {
+				saveCSVAndClose()
+			}
+		}
+	}
+
+	private fun saveCSVAndClose() {
+		if (file != null) {
+			Util.close(file)
+			file = null
+		}
+	}
+
+	private fun writeCSVHeader() {
+		var isFirst = true
+		VRServer.instance.allTrackers.forEach {
+			if(it.isInternal || it.isComputed)
+				return@forEach
+			if (!isFirst) {
+				file!!.write(';'.code)
+			}
+			isFirst = false
+			val tid = it.id.toString()
+			file!!.write("\"" + tid + "_x\";"
+				+ "\"" + tid + "_y\";"
+				+ "\"" + tid + "_z\";"
+				+ "\"" + tid + "_qw\";"
+				+ "\"" + tid + "_qx\";"
+				+ "\"" + tid + "_qy\";"
+				+ "\"" + tid + "_qz\";"
+				+ "\"" + tid + "_ax\";"
+				+ "\"" + tid + "_ay\";"
+				+ "\"" + tid + "_az\";"
+				+ "\"" + tid + "_mx\";"
+				+ "\"" + tid + "_my\";"
+				+ "\"" + tid + "_mz\";"
+				+ "\"" + tid + "_batv\";"
+				+ "\"" + tid + "_batp\";"
+				+ "\"" + tid + "_signal\";"
+				+ "\"" + tid + "_ping\";"
+				+ "\"" + tid + "_p_rcv\";"
+				+ "\"" + tid + "_p_lost\";"
+				+ "\"" + tid + "_p_loss\";"
+				+ "\"" + tid + "_w_hit\";"
+				+ "\"" + tid + "_w_miss\"")
+		}
+		file!!.write('\n'.code)
+	}
+
+	override fun accept(t: Tracker) {
+		// New tracker appeared, re-create the log file
+		saveCSVAndClose()
+	}
+}

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 * Quaternion.SLIMEVR.FRONT
+				-> mountRot
 
 				TrackerPosition.LEFT_UPPER_LEG,
 				TrackerPosition.RIGHT_UPPER_LEG,
-				-> mountRot
+				-> mountRot * Quaternion.SLIMEVR.FRONT
 
-				else -> mountRot
+				else -> mountRot * Quaternion.SLIMEVR.FRONT
 			}
 			val actualMounting = tracker.resetsHandler.mountRotFix
 

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

@@ -7,7 +7,6 @@ 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
@@ -219,11 +218,6 @@ 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

@@ -3558,20 +3558,6 @@ 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();
 	}
 
 	/**
@@ -3602,7 +3588,6 @@ public final class ProtobufMessages {
 		private TrackerAdded() {
 			trackerSerial_ = "";
 			trackerName_ = "";
-			manufacturer_ = "";
 		}
 
 		public static final com.google.protobuf.Descriptors.Descriptor getDescriptor() {
@@ -3728,48 +3713,6 @@ 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
@@ -3799,9 +3742,6 @@ 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);
 		}
 
@@ -3826,9 +3766,6 @@ 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;
@@ -3864,11 +3801,6 @@ public final class ProtobufMessages {
 					!= other.getTrackerRole()
 			)
 				return false;
-			if (
-				!getManufacturer()
-					.equals(other.getManufacturer())
-			)
-				return false;
 			if (!getUnknownFields().equals(other.getUnknownFields()))
 				return false;
 			return true;
@@ -3889,8 +3821,6 @@ 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;
@@ -4063,7 +3993,6 @@ public final class ProtobufMessages {
 				trackerSerial_ = "";
 				trackerName_ = "";
 				trackerRole_ = 0;
-				manufacturer_ = "";
 				return this;
 			}
 
@@ -4115,9 +4044,6 @@ public final class ProtobufMessages {
 				if (((from_bitField0_ & 0x00000008) != 0)) {
 					result.trackerRole_ = trackerRole_;
 				}
-				if (((from_bitField0_ & 0x00000010) != 0)) {
-					result.manufacturer_ = manufacturer_;
-				}
 			}
 
 			@java.lang.Override
@@ -4157,11 +4083,6 @@ 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;
@@ -4209,11 +4130,6 @@ 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
@@ -4482,93 +4398,6 @@ 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)
 		}
 
@@ -9043,55 +8872,53 @@ 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\"|\n\014T"
+				"try\022\013\n\003key\030\001 \001(\t\022\r\n\005value\030\002 \001(\t:\0028\001\"f\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\022\024\n\014manufacturer\030\005 \001("
+				"\014tracker_role\030\004 \001(\005\"\374\002\n\rTrackerStatus\022\022\n"
 				+
-				"\t\"\374\002\n\rTrackerStatus\022\022\n\ntracker_id\030\001 \001(\005\022"
+				"\ntracker_id\030\001 \001(\005\022.\n\006status\030\002 \001(\0162\036.mess"
 				+
-				".\n\006status\030\002 \001(\0162\036.messages.TrackerStatus"
+				"ages.TrackerStatus.Status\0221\n\005extra\030\003 \003(\013"
 				+
-				".Status\0221\n\005extra\030\003 \003(\0132\".messages.Tracke"
+				"2\".messages.TrackerStatus.ExtraEntry\022;\n\n"
 				+
-				"rStatus.ExtraEntry\022;\n\nconfidence\030\004 \001(\0162\""
+				"confidence\030\004 \001(\0162\".messages.TrackerStatu"
 				+
-				".messages.TrackerStatus.ConfidenceH\000\210\001\001\032"
+				"s.ConfidenceH\000\210\001\001\032,\n\nExtraEntry\022\013\n\003key\030\001"
 				+
-				",\n\nExtraEntry\022\013\n\003key\030\001 \001(\t\022\r\n\005value\030\002 \001("
+				" \001(\t\022\r\n\005value\030\002 \001(\t:\0028\001\"E\n\006Status\022\020\n\014DIS"
 				+
-				"\t:\0028\001\"E\n\006Status\022\020\n\014DISCONNECTED\020\000\022\006\n\002OK\020"
+				"CONNECTED\020\000\022\006\n\002OK\020\001\022\010\n\004BUSY\020\002\022\t\n\005ERROR\020\003"
 				+
-				"\001\022\010\n\004BUSY\020\002\022\t\n\005ERROR\020\003\022\014\n\010OCCLUDED\020\004\"3\n\n"
+				"\022\014\n\010OCCLUDED\020\004\"3\n\nConfidence\022\006\n\002NO\020\000\022\007\n\003"
 				+
-				"Confidence\022\006\n\002NO\020\000\022\007\n\003LOW\020\001\022\n\n\006MEDIUM\020\005\022"
+				"LOW\020\001\022\n\n\006MEDIUM\020\005\022\010\n\004HIGH\020\nB\r\n\013_confiden"
 				+
-				"\010\n\004HIGH\020\nB\r\n\013_confidence\"I\n\007Battery\022\022\n\nt"
+				"ce\"I\n\007Battery\022\022\n\ntracker_id\030\001 \001(\005\022\025\n\rbat"
 				+
-				"racker_id\030\001 \001(\005\022\025\n\rbattery_level\030\002 \001(\002\022\023"
+				"tery_level\030\002 \001(\002\022\023\n\013is_charging\030\003 \001(\010\"\241\002"
 				+
-				"\n\013is_charging\030\003 \001(\010\"\241\002\n\017ProtobufMessage\022"
+				"\n\017ProtobufMessage\022&\n\010position\030\001 \001(\0132\022.me"
 				+
-				"&\n\010position\030\001 \001(\0132\022.messages.PositionH\000\022"
+				"ssages.PositionH\000\022+\n\013user_action\030\002 \001(\0132\024"
 				+
-				"+\n\013user_action\030\002 \001(\0132\024.messages.UserActi"
+				".messages.UserActionH\000\022/\n\rtracker_added\030"
 				+
-				"onH\000\022/\n\rtracker_added\030\003 \001(\0132\026.messages.T"
+				"\003 \001(\0132\026.messages.TrackerAddedH\000\0221\n\016track"
 				+
-				"rackerAddedH\000\0221\n\016tracker_status\030\004 \001(\0132\027."
+				"er_status\030\004 \001(\0132\027.messages.TrackerStatus"
 				+
-				"messages.TrackerStatusH\000\022$\n\007battery\030\005 \001("
+				"H\000\022$\n\007battery\030\005 \001(\0132\021.messages.BatteryH\000"
 				+
-				"\0132\021.messages.BatteryH\000\022$\n\007version\030\006 \001(\0132"
+				"\022$\n\007version\030\006 \001(\0132\021.messages.VersionH\000B\t"
 				+
-				"\021.messages.VersionH\000B\t\n\007messageB2\n\034dev.s"
+				"\n\007messageB2\n\034dev.slimevr.desktop.platfor"
 				+
-				"limevr.desktop.platformB\020ProtobufMessage"
-				+
-				"sH\003b\006proto3"
+				"mB\020ProtobufMessagesH\003b\006proto3"
 		};
 		descriptor = com.google.protobuf.Descriptors.FileDescriptor
 			.internalBuildGeneratedFileFrom(
@@ -9130,8 +8957,7 @@ 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",
-				"Manufacturer", }
+			new java.lang.String[] { "TrackerId", "TrackerSerial", "TrackerName", "TrackerRole", }
 		);
 		internal_static_messages_TrackerStatus_descriptor = getDescriptor()
 			.getMessageTypes()

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

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