[Feature Request] Learning values for tracker drift #490

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MrUnknownDE · 2026-04-05T19:15:18+02:00

MrUnknownDE commented

2026-04-05 19:15:18 +02:00

Originally created by @Sacred-Shadow on 2/19/2025

I've built a few SlimeVR trackers for some friends.

During the final testing, I noticed that the IMUs (SlimeVR IMU Module BNO085) show some variation in their behavior.

One IMU has almost no drifting and remains perfectly stable.
Another IMU starts drifting in the Y-axis.
The next IMU starts drifting in the X-axis.

For my tests, I placed the trackers on a smooth, level surface.
The starting point was the same for all of them. The rest period on the surface right after powering on was also the same. After that, I moved each tracker in a figure-eight motion twice and returned them to the starting position.

The interesting part is that while the behavior can slightly change after a restart, the general tendency of each tracker remains the same.
A tracker that tends to drift in the negative Y direction will do so repeatedly. A tracker with almost no drift will continue to have minimal drift later on.

Wouldn't it make sense for the SlimeVR server to have a workflow for tracker calibration?
That way, the server could store the baseline tendencies of each tracker, allowing for improved drift compensation.

*Originally created by @Sacred-Shadow on 2/19/2025* I've built a few SlimeVR trackers for some friends. During the final testing, I noticed that the IMUs (SlimeVR IMU Module BNO085) show some variation in their behavior. - One IMU has almost no drifting and remains perfectly stable. - Another IMU starts drifting in the Y-axis. - The next IMU starts drifting in the X-axis. For my tests, I placed the trackers on a smooth, level surface. The starting point was the same for all of them. The rest period on the surface right after powering on was also the same. After that, I moved each tracker in a figure-eight motion twice and returned them to the starting position. The interesting part is that while the behavior can slightly change after a restart, the general tendency of each tracker remains the same. A tracker that tends to drift in the negative Y direction will do so repeatedly. A tracker with almost no drift will continue to have minimal drift later on. Wouldn't it make sense for the SlimeVR server to have a workflow for tracker calibration? That way, the server could store the baseline tendencies of each tracker, allowing for improved drift compensation.

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Reference: github/SlimeVR-Server#490