diff --git a/lib/vqf/vqf.h b/lib/vqf/vqf.h
index bde7cd0..dad1a78 100644
--- a/lib/vqf/vqf.h
+++ b/lib/vqf/vqf.h
@@ -56,7 +56,7 @@ struct VQFParams {
 	 *
 	 * Default value: 3.0 s
 	 */
-	vqf_real_t tauAcc = 3.0;
+	vqf_real_t tauAcc = 4.337983;
 	/**
 	 * @brief Time constant \f$\tau_\mathrm{mag}\f$ for magnetometer update in seconds.
 	 *
@@ -106,7 +106,7 @@ struct VQFParams {
 	 *
 	 * Default value: 0.5 °/s
 	 */
-	vqf_real_t biasSigmaInit = 0.5;
+	vqf_real_t biasSigmaInit = 3.219453;
 	/**
 	 * @brief Time in which the bias estimation uncertainty increases from 0 °/s to 0.1
 	 * °/s (in seconds).
@@ -115,7 +115,7 @@ struct VQFParams {
 	 *
 	 * Default value: 100.0 s
 	 */
-	vqf_real_t biasForgettingTime = 100.0;
+	vqf_real_t biasForgettingTime = 136.579346;
 	/**
 	 * @brief Maximum expected gyroscope bias (in degrees per second).
 	 *
@@ -126,7 +126,7 @@ struct VQFParams {
 	 *
 	 * Default value: 2.0 °/s
 	 */
-	vqf_real_t biasClip = 2.0;
+	vqf_real_t biasClip = 5.0;
 #ifndef VQF_NO_MOTION_BIAS_ESTIMATION
 	/**
 	 * @brief Standard deviation of the converged bias estimation uncertainty during
@@ -137,7 +137,7 @@ struct VQFParams {
 	 *
 	 * Default value: 0.1 °/s
 	 */
-	vqf_real_t biasSigmaMotion = 0.1;
+	vqf_real_t biasSigmaMotion = 0.348501;
 	/**
 	 * @brief Forgetting factor for unobservable bias in vertical direction during
 	 * motion.
@@ -149,7 +149,7 @@ struct VQFParams {
 	 *
 	 * Default value: 0.0001
 	 */
-	vqf_real_t biasVerticalForgettingFactor = 0.0001;
+	vqf_real_t biasVerticalForgettingFactor = 0.007056;
 #endif
 	/**
 	 * @brief Standard deviation of the converged bias estimation uncertainty during
@@ -160,7 +160,7 @@ struct VQFParams {
 	 *
 	 * Default value: 0.03 °
 	 */
-	vqf_real_t biasSigmaRest = 0.03;
+	vqf_real_t biasSigmaRest = 0.063616;
 
 	/**
 	 * @brief Time threshold for rest detection (in seconds).
@@ -170,7 +170,7 @@ struct VQFParams {
 	 *
 	 * Default value: 1.5 s
 	 */
-	vqf_real_t restMinT = 1.5;
+	vqf_real_t restMinT = 2.586910;
 	/**
 	 * @brief Time constant for the low-pass filter used in rest detection (in seconds).
 	 *
@@ -179,7 +179,7 @@ struct VQFParams {
 	 *
 	 * Default value: 0.5 s
 	 */
-	vqf_real_t restFilterTau = 0.5;
+	vqf_real_t restFilterTau = 1.114532;
 	/**
 	 * @brief Angular velocity threshold for rest detection (in °/s).
 	 *
@@ -189,7 +189,7 @@ struct VQFParams {
 	 *
 	 * Default value: 2.0 °/s
 	 */
-	vqf_real_t restThGyr = 2.0;
+	vqf_real_t restThGyr = 1.399189;
 	/**
 	 * @brief Acceleration threshold for rest detection (in m/s²).
 	 *
@@ -198,7 +198,7 @@ struct VQFParams {
 	 *
 	 * Default value: 0.5 m/s²
 	 */
-	vqf_real_t restThAcc = 0.5;
+	vqf_real_t restThAcc = 1.418598;
 
 	/**
 	 * @brief Time constant for current norm/dip value in magnetic disturbance detection
diff --git a/src/sensors/softfusion/drivers/bmi160.h b/src/sensors/softfusion/drivers/bmi160.h
index 1f79be1..d41553c 100644
--- a/src/sensors/softfusion/drivers/bmi160.h
+++ b/src/sensors/softfusion/drivers/bmi160.h
@@ -37,7 +37,7 @@ namespace SlimeVR::Sensors::SoftFusion::Drivers {
 
 // Driver uses acceleration range at 4G
 // and gyroscope range at 1000DPS
-// Gyroscope ODR = 400Hz, accel ODR = 100Hz
+// Gyroscope ODR = 200Hz, accel ODR = 100Hz
 // Timestamps reading are not used
 
 // Sensorhub to be implemented
@@ -47,7 +47,7 @@ struct BMI160 {
 	static constexpr auto Name = "BMI160";
 	static constexpr auto Type = SensorTypeID::BMI160;
 
-	static constexpr float GyrTs = 1.0 / 400.0;
+	static constexpr float GyrTs = 1.0 / 200.0;
 	static constexpr float AccTs = 1.0 / 100.0;
 
 	static constexpr float MagTs = 1.0 / 100;
@@ -58,14 +58,7 @@ struct BMI160 {
 	static constexpr float TemperatureZROChange
 		= 2.0f;  // wow maybe BMI270 isn't that bad actually
 
-	static constexpr VQFParams SensorVQFParams{
-		// need to be refined, this IMU sucks
-		.motionBiasEstEnabled = true,
-		.biasSigmaInit = 0.5f,
-		.biasClip = 2.0f,
-		.restThGyr = 0.5f,
-		.restThAcc = 0.196f,
-	};
+	static constexpr VQFParams SensorVQFParams{};
 
 	RegisterInterface& m_RegisterInterface;
 	SlimeVR::Logging::Logger& m_Logger;
@@ -102,7 +95,7 @@ struct BMI160 {
 
 		struct GyrConf {
 			static constexpr uint8_t reg = 0x42;
-			static constexpr uint8_t value = 0b0101010;  // 400Hz, filter mode normal
+			static constexpr uint8_t value = 0b0101001;  // 200Hz, filter mode normal
 		};
 
 		struct GyrRange {
diff --git a/src/sensors/softfusion/drivers/bmi270.h b/src/sensors/softfusion/drivers/bmi270.h
index bdc66e8..eabea7a 100644
--- a/src/sensors/softfusion/drivers/bmi270.h
+++ b/src/sensors/softfusion/drivers/bmi270.h
@@ -38,7 +38,7 @@ namespace SlimeVR::Sensors::SoftFusion::Drivers {
 
 // Driver uses acceleration range at 16g
 // and gyroscope range at 1000dps
-// Gyroscope ODR = 400Hz, accel ODR = 100Hz
+// Gyroscope ODR = 200Hz, accel ODR = 100Hz
 // Timestamps reading are not used
 
 struct BMI270 {
@@ -46,7 +46,7 @@ struct BMI270 {
 	static constexpr auto Name = "BMI270";
 	static constexpr auto Type = SensorTypeID::BMI270;
 
-	static constexpr float GyrTs = 1.0 / 400.0;
+	static constexpr float GyrTs = 1.0 / 200.0;
 	static constexpr float AccTs = 1.0 / 100.0;
 
 	static constexpr float MagTs = 1.0 / 100;
@@ -56,13 +56,7 @@ struct BMI270 {
 
 	static constexpr float TemperatureZROChange = 6.667f;
 
-	static constexpr VQFParams SensorVQFParams{
-		.motionBiasEstEnabled = true,
-		.biasSigmaInit = 0.5f,
-		.biasClip = 1.0f,
-		.restThGyr = 0.5f,
-		.restThAcc = 0.196f,
-	};
+	static constexpr VQFParams SensorVQFParams{};
 
 	struct MotionlessCalibrationData {
 		bool valid;
@@ -138,7 +132,7 @@ struct BMI270 {
 			static constexpr uint8_t filterHighPerfMode = 1 << 7;
 
 			static constexpr uint8_t value
-				= rate400Hz | DLPFModeNorm | noisePerfMode | filterHighPerfMode;
+				= rate200Hz | DLPFModeNorm | noisePerfMode | filterHighPerfMode;
 		};
 
 		struct GyrRange {
diff --git a/src/sensors/softfusion/drivers/icm42688.h b/src/sensors/softfusion/drivers/icm42688.h
index 61ec437..25fa1df 100644
--- a/src/sensors/softfusion/drivers/icm42688.h
+++ b/src/sensors/softfusion/drivers/icm42688.h
@@ -34,7 +34,7 @@ namespace SlimeVR::Sensors::SoftFusion::Drivers {
 
 // Driver uses acceleration range at 8g
 // and gyroscope range at 1000dps
-// Gyroscope ODR = 500Hz, accel ODR = 100Hz
+// Gyroscope ODR = 200Hz, accel ODR = 100Hz
 // Timestamps reading not used, as they're useless (constant predefined increment)
 
 struct ICM42688 {
@@ -42,7 +42,7 @@ struct ICM42688 {
 	static constexpr auto Name = "ICM-42688";
 	static constexpr auto Type = SensorTypeID::ICM42688;
 
-	static constexpr float GyrTs = 1.0 / 500.0;
+	static constexpr float GyrTs = 1.0 / 200.0;
 	static constexpr float AccTs = 1.0 / 100.0;
 	static constexpr float TempTs = 1.0 / 500.0;
 
@@ -56,13 +56,7 @@ struct ICM42688 {
 
 	static constexpr float TemperatureZROChange = 20.0f;
 
-	static constexpr VQFParams SensorVQFParams{
-		.motionBiasEstEnabled = true,
-		.biasSigmaInit = 0.5f,
-		.biasClip = 1.0f,
-		.restThGyr = 0.5f,
-		.restThAcc = 0.196f,
-	};
+	static constexpr VQFParams SensorVQFParams{};
 
 	RegisterInterface& m_RegisterInterface;
 	SlimeVR::Logging::Logger& m_Logger;
@@ -99,7 +93,7 @@ struct ICM42688 {
 		struct GyroConfig {
 			static constexpr uint8_t reg = 0x4f;
 			static constexpr uint8_t value
-				= (0b001 << 5) | 0b1111;  // 1000dps, odr=500Hz
+				= (0b001 << 5) | 0b0111;  // 1000dps, odr=200Hz
 		};
 		struct AccelConfig {
 			static constexpr uint8_t reg = 0x50;
diff --git a/src/sensors/softfusion/drivers/icm45605.h b/src/sensors/softfusion/drivers/icm45605.h
index 2b7f0d0..29659d0 100644
--- a/src/sensors/softfusion/drivers/icm45605.h
+++ b/src/sensors/softfusion/drivers/icm45605.h
@@ -32,20 +32,14 @@ namespace SlimeVR::Sensors::SoftFusion::Drivers {
 // and gyroscope range at 4000dps
 // using high resolution mode
 // Uses 32.768kHz clock
-// Gyroscope ODR = 409.6Hz, accel ODR = 204.8Hz
+// Gyroscope ODR = 204.8Hz, accel ODR = 102.4Hz
 // Timestamps reading not used, as they're useless (constant predefined increment)
 
 struct ICM45605 : public ICM45Base {
 	static constexpr auto Name = "ICM-45605";
 	static constexpr auto Type = SensorTypeID::ICM45605;
 
-	static constexpr VQFParams SensorVQFParams{
-		.motionBiasEstEnabled = true,
-		.biasSigmaInit = 0.3f,
-		.biasClip = 0.6f,
-		.restThGyr = 0.3f,
-		.restThAcc = 0.0098f,
-	};
+	static constexpr VQFParams SensorVQFParams{};
 
 	ICM45605(RegisterInterface& registerInterface, SlimeVR::Logging::Logger& logger)
 		: ICM45Base{registerInterface, logger} {}
diff --git a/src/sensors/softfusion/drivers/icm45686.h b/src/sensors/softfusion/drivers/icm45686.h
index 43cb152..0c5f867 100644
--- a/src/sensors/softfusion/drivers/icm45686.h
+++ b/src/sensors/softfusion/drivers/icm45686.h
@@ -32,26 +32,14 @@ namespace SlimeVR::Sensors::SoftFusion::Drivers {
 // and gyroscope range at 4000dps
 // using high resolution mode
 // Uses 32.768kHz clock
-// Gyroscope ODR = 409.6Hz, accel ODR = 102.4Hz
+// Gyroscope ODR = 204.8Hz, accel ODR = 102.4Hz
 // Timestamps reading not used, as they're useless (constant predefined increment)
 
 struct ICM45686 : public ICM45Base {
 	static constexpr auto Name = "ICM-45686";
 	static constexpr auto Type = SensorTypeID::ICM45686;
 
-	static constexpr VQFParams SensorVQFParams{
-		.tauAcc = 7.171490,
-		.biasSigmaInit = 0.337976,
-		.biasForgettingTime = 352.235500,
-		.biasClip = 5.0,
-		.biasSigmaMotion = 0.985346,
-		.biasVerticalForgettingFactor = 0.007959,
-		.biasSigmaRest = 0.028897,
-		.restMinT = 4.648680,
-		.restFilterTau = 1.900166,
-		.restThGyr = 2.620598,
-		.restThAcc = 2.142593,
-	};
+	static constexpr VQFParams SensorVQFParams{};
 
 	ICM45686(RegisterInterface& registerInterface, SlimeVR::Logging::Logger& logger)
 		: ICM45Base{registerInterface, logger} {}
diff --git a/src/sensors/softfusion/drivers/icm45base.h b/src/sensors/softfusion/drivers/icm45base.h
index de08e4f..977eac4 100644
--- a/src/sensors/softfusion/drivers/icm45base.h
+++ b/src/sensors/softfusion/drivers/icm45base.h
@@ -34,13 +34,13 @@ namespace SlimeVR::Sensors::SoftFusion::Drivers {
 // and gyroscope range at 4000dps
 // using high resolution mode
 // Uses 32.768kHz clock
-// Gyroscope ODR = 409.6Hz, accel ODR = 102.4Hz
+// Gyroscope ODR = 204.8Hz, accel ODR = 102.4Hz
 // Timestamps reading not used, as they're useless (constant predefined increment)
 
 struct ICM45Base {
 	static constexpr uint8_t Address = 0x68;
 
-	static constexpr float GyrTs = 1.0 / 409.6;
+	static constexpr float GyrTs = 1.0 / 204.8;
 	static constexpr float AccTs = 1.0 / 102.4;
 	static constexpr float TempTs = 1.0 / 409.6;
 
@@ -71,7 +71,7 @@ struct ICM45Base {
 		struct GyroConfig {
 			static constexpr uint8_t reg = 0x1c;
 			static constexpr uint8_t value
-				= (0b0000 << 4) | 0b0111;  // 4000dps, odr=409.6Hz
+				= (0b0000 << 4) | 0b1000;  // 4000dps, odr=204.8Hz
 		};
 
 		struct AccelConfig {
diff --git a/src/sensors/softfusion/drivers/lsm6ds3trc.h b/src/sensors/softfusion/drivers/lsm6ds3trc.h
index 6d44895..db2e79b 100644
--- a/src/sensors/softfusion/drivers/lsm6ds3trc.h
+++ b/src/sensors/softfusion/drivers/lsm6ds3trc.h
@@ -33,21 +33,25 @@
 
 namespace SlimeVR::Sensors::SoftFusion::Drivers {
 
-// Driver uses acceleration range at 8g
+// Driver uses acceleration range at 4g
 // and gyroscope range at 1000dps
-// Gyroscope ODR = 416Hz, accel ODR = 416Hz
+// Gyroscope ODR = 208Hz, accel ODR = 104Hz
 
 struct LSM6DS3TRC {
 	static constexpr uint8_t Address = 0x6a;
 	static constexpr auto Name = "LSM6DS3TR-C";
 	static constexpr auto Type = SensorTypeID::LSM6DS3TRC;
 
-	static constexpr float Freq = 416;
+	static constexpr float GyrFreq = 208.0f;
+	static constexpr float AccFreq = 104.0f;
+	static constexpr float MagFreq = 100.0f;
+	static constexpr float TempFreq
+		= 416.0f;  // I guess it's just output at the FIFO ODR?
 
-	static constexpr float GyrTs = 1.0 / Freq;
-	static constexpr float AccTs = 1.0 / Freq;
-	static constexpr float MagTs = 1.0 / Freq;
-	static constexpr float TempTs = 1.0 / Freq;
+	static constexpr float GyrTs = 1.0 / GyrFreq;
+	static constexpr float AccTs = 1.0 / AccFreq;
+	static constexpr float MagTs = 1.0 / MagFreq;
+	static constexpr float TempTs = 1.0 / TempFreq;
 
 	static constexpr float GyroSensitivity = 28.571428571f;
 	static constexpr float AccelSensitivity = 4098.360655738f;
@@ -57,13 +61,7 @@ struct LSM6DS3TRC {
 
 	static constexpr float TemperatureZROChange = 2.0f;
 
-	static constexpr VQFParams SensorVQFParams{
-		.motionBiasEstEnabled = true,
-		.biasSigmaInit = 3.0f,
-		.biasClip = 6.0f,
-		.restThGyr = 3.0f,
-		.restThAcc = 0.392f,
-	};
+	static constexpr VQFParams SensorVQFParams{};
 
 	RegisterInterface& m_RegisterInterface;
 	SlimeVR::Logging::Logger m_Logger;
@@ -79,12 +77,12 @@ struct LSM6DS3TRC {
 		};
 		struct Ctrl1XL {
 			static constexpr uint8_t reg = 0x10;
-			static constexpr uint8_t value = (0b11 << 2) | (0b0110 << 4);  // 8g, 416Hz
+			static constexpr uint8_t value = (0b10 << 2) | (0b0100 << 4);  // 4g, 104Hz
 		};
 		struct Ctrl2G {
 			static constexpr uint8_t reg = 0x11;
 			static constexpr uint8_t value
-				= (0b10 << 2) | (0b0110 << 4);  // 1000dps, 416Hz
+				= (0b10 << 2) | (0b0101 << 4);  // 1000dps, 208Hz
 		};
 		struct Ctrl3C {
 			static constexpr uint8_t reg = 0x12;
@@ -104,7 +102,7 @@ struct LSM6DS3TRC {
 		struct FifoCtrl5 {
 			static constexpr uint8_t reg = 0x0a;
 			static constexpr uint8_t value
-				= 0b110 | (0b0111 << 3);  // continuous mode, odr = 833Hz
+				= 0b110 | (0b0110 << 3);  // continuous mode, odr = 416Hz
 		};
 
 		static constexpr uint8_t FifoStatus = 0x3a;
diff --git a/src/sensors/softfusion/drivers/lsm6dso.h b/src/sensors/softfusion/drivers/lsm6dso.h
index eafc11b..4ab490d 100644
--- a/src/sensors/softfusion/drivers/lsm6dso.h
+++ b/src/sensors/softfusion/drivers/lsm6dso.h
@@ -33,7 +33,7 @@
 
 namespace SlimeVR::Sensors::SoftFusion::Drivers {
 
-// Driver uses acceleration range at 8g
+// Driver uses acceleration range at 4g
 // and gyroscope range at 1000dps
 // Gyroscope ODR = 416Hz, accel ODR = 104Hz
 
@@ -42,7 +42,7 @@ struct LSM6DSO : LSM6DSOutputHandler {
 	static constexpr auto Name = "LSM6DSO";
 	static constexpr auto Type = SensorTypeID::LSM6DSO;
 
-	static constexpr float GyrFreq = 416;
+	static constexpr float GyrFreq = 208;
 	static constexpr float AccFreq = 104;
 	static constexpr float MagFreq = 120;
 	static constexpr float TempFreq = 52;
@@ -60,13 +60,7 @@ struct LSM6DSO : LSM6DSOutputHandler {
 
 	static constexpr float TemperatureZROChange = 10.0;
 
-	static constexpr VQFParams SensorVQFParams{
-		.motionBiasEstEnabled = true,
-		.biasSigmaInit = 1.0f,
-		.biasClip = 2.0f,
-		.restThGyr = 1.0f,
-		.restThAcc = 0.192f,
-	};
+	static constexpr VQFParams SensorVQFParams{};
 
 	struct Regs {
 		struct WhoAmI {
@@ -75,11 +69,11 @@ struct LSM6DSO : LSM6DSOutputHandler {
 		};
 		struct Ctrl1XL {
 			static constexpr uint8_t reg = 0x10;
-			static constexpr uint8_t value = (0b01001100);  // XL at 104 Hz, 8g FS
+			static constexpr uint8_t value = (0b01001000);  // XL at 104 Hz, 4g FS
 		};
 		struct Ctrl2GY {
 			static constexpr uint8_t reg = 0x11;
-			static constexpr uint8_t value = (0b01101000);  // GY at 416 Hz, 1000dps FS
+			static constexpr uint8_t value = (0b01011000);  // GY at 208 Hz, 1000dps FS
 		};
 		struct Ctrl3C {
 			static constexpr uint8_t reg = 0x12;
@@ -90,7 +84,7 @@ struct LSM6DSO : LSM6DSOutputHandler {
 		struct FifoCtrl3BDR {
 			static constexpr uint8_t reg = 0x09;
 			static constexpr uint8_t value
-				= (0b0110) | (0b0110 << 4);  // gyro and accel batched at 417Hz
+				= 0b01010100;  // Gyroscope batched into FIFO at 208Hz, Accel at 104Hz
 		};
 		struct FifoCtrl4Mode {
 			static constexpr uint8_t reg = 0x0a;
diff --git a/src/sensors/softfusion/drivers/lsm6dsr.h b/src/sensors/softfusion/drivers/lsm6dsr.h
index 7f1dd58..820c57f 100644
--- a/src/sensors/softfusion/drivers/lsm6dsr.h
+++ b/src/sensors/softfusion/drivers/lsm6dsr.h
@@ -31,16 +31,16 @@
 
 namespace SlimeVR::Sensors::SoftFusion::Drivers {
 
-// Driver uses acceleration range at 8g
+// Driver uses acceleration range at 4g
 // and gyroscope range at 1000dps
-// Gyroscope ODR = 416Hz, accel ODR = 104Hz
+// Gyroscope ODR = 208Hz, accel ODR = 104Hz
 
 struct LSM6DSR : LSM6DSOutputHandler {
 	static constexpr uint8_t Address = 0x6a;
 	static constexpr auto Name = "LSM6DSR";
 	static constexpr auto Type = SensorTypeID::LSM6DSR;
 
-	static constexpr float GyrFreq = 416;
+	static constexpr float GyrFreq = 208;
 	static constexpr float AccFreq = 104;
 	static constexpr float MagFreq = 120;
 	static constexpr float TempFreq = 52;
@@ -58,13 +58,7 @@ struct LSM6DSR : LSM6DSOutputHandler {
 
 	static constexpr float TemperatureZROChange = 20.0f;
 
-	static constexpr VQFParams SensorVQFParams{
-		.motionBiasEstEnabled = true,
-		.biasSigmaInit = 1.0f,
-		.biasClip = 2.0f,
-		.restThGyr = 1.0f,
-		.restThAcc = 0.192f,
-	};
+	static constexpr VQFParams SensorVQFParams{};
 
 	struct Regs {
 		struct WhoAmI {
@@ -73,11 +67,11 @@ struct LSM6DSR : LSM6DSOutputHandler {
 		};
 		struct Ctrl1XL {
 			static constexpr uint8_t reg = 0x10;
-			static constexpr uint8_t value = (0b01001100);  // XL at 104 Hz, 8g FS
+			static constexpr uint8_t value = (0b01001000);  // XL at 104 Hz, 4g FS
 		};
 		struct Ctrl2GY {
 			static constexpr uint8_t reg = 0x11;
-			static constexpr uint8_t value = (0b01101000);  // GY at 416 Hz, 1000dps FS
+			static constexpr uint8_t value = (0b01011000);  // GY at 208 Hz, 1000dps FS
 		};
 		struct Ctrl3C {
 			static constexpr uint8_t reg = 0x12;
@@ -88,7 +82,7 @@ struct LSM6DSR : LSM6DSOutputHandler {
 		struct FifoCtrl3BDR {
 			static constexpr uint8_t reg = 0x09;
 			static constexpr uint8_t value
-				= (0b0110) | (0b0110 << 4);  // gyro and accel batched at 417Hz
+				= 0b01010100;  // Gyroscope batched into FIFO at 208Hz, Accel at 104Hz
 		};
 		struct FifoCtrl4Mode {
 			static constexpr uint8_t reg = 0x0a;
diff --git a/src/sensors/softfusion/drivers/lsm6dsv.h b/src/sensors/softfusion/drivers/lsm6dsv.h
index 5f1d1cf..ec16092 100644
--- a/src/sensors/softfusion/drivers/lsm6dsv.h
+++ b/src/sensors/softfusion/drivers/lsm6dsv.h
@@ -32,16 +32,16 @@
 
 namespace SlimeVR::Sensors::SoftFusion::Drivers {
 
-// Driver uses acceleration range at 8g
+// Driver uses acceleration range at 4g
 // and gyroscope range at 1000dps
-// Gyroscope ODR = 480Hz, accel ODR = 120Hz
+// Gyroscope ODR = 240Hz, accel ODR = 120Hz
 
 struct LSM6DSV : LSM6DSOutputHandler {
 	static constexpr uint8_t Address = 0x6a;
 	static constexpr auto Name = "LSM6DSV";
 	static constexpr auto Type = SensorTypeID::LSM6DSV;
 
-	static constexpr float GyrFreq = 480;
+	static constexpr float GyrFreq = 240;
 	static constexpr float AccFreq = 120;
 	static constexpr float MagFreq = 120;
 	static constexpr float TempFreq = 60;
@@ -59,13 +59,7 @@ struct LSM6DSV : LSM6DSOutputHandler {
 
 	static constexpr float TemperatureZROChange = 16.667f;
 
-	static constexpr VQFParams SensorVQFParams{
-		.motionBiasEstEnabled = true,
-		.biasSigmaInit = 1.0f,
-		.biasClip = 2.0f,
-		.restThGyr = 1.0f,
-		.restThAcc = 0.192f,
-	};
+	static constexpr VQFParams SensorVQFParams{};
 
 	struct Regs {
 		struct WhoAmI {
@@ -82,7 +76,7 @@ struct LSM6DSV : LSM6DSOutputHandler {
 		};
 		struct Ctrl2GODR {
 			static constexpr uint8_t reg = 0x11;
-			static constexpr uint8_t value = (0b0011000);  // 480Hz, HAODR
+			static constexpr uint8_t value = (0b0010111);  // 240Hz, HAODR
 		};
 		struct Ctrl3C {
 			static constexpr uint8_t reg = 0x12;
@@ -96,12 +90,12 @@ struct LSM6DSV : LSM6DSOutputHandler {
 		};
 		struct Ctrl8XLFS {
 			static constexpr uint8_t reg = 0x17;
-			static constexpr uint8_t value = (0b10);  // 8g
+			static constexpr uint8_t value = (0b01);  // 4g
 		};
 		struct FifoCtrl3BDR {
 			static constexpr uint8_t reg = 0x09;
 			static constexpr uint8_t value
-				= (0b1000) | (0b1000 << 4);  // gyro and accel batched at 480Hz
+				= 0b01110110;  // Gyroscope batched into FIFO at 240Hz, Accel at 120Hz
 		};
 		struct FifoCtrl4Mode {
 			static constexpr uint8_t reg = 0x0a;
diff --git a/src/sensors/softfusion/drivers/mpu6050.h b/src/sensors/softfusion/drivers/mpu6050.h
index 9310158..3d544a0 100644
--- a/src/sensors/softfusion/drivers/mpu6050.h
+++ b/src/sensors/softfusion/drivers/mpu6050.h
@@ -70,13 +70,7 @@ struct MPU6050 {
 
 	static constexpr float TemperatureZROChange = 1.6f;
 
-	static constexpr VQFParams SensorVQFParams{
-		.motionBiasEstEnabled = true,
-		.biasSigmaInit = 20.0f,
-		.biasClip = 40.0f,
-		.restThGyr = 20.0f,
-		.restThAcc = 0.784f,
-	};
+	static constexpr VQFParams SensorVQFParams{};
 
 	RegisterInterface& m_RegisterInterface;
 	SlimeVR::Logging::Logger& m_Logger;
diff --git a/src/sensors/softfusion/runtimecalibration/RuntimeCalibration.h b/src/sensors/softfusion/runtimecalibration/RuntimeCalibration.h
index b6567e6..fe139b2 100644
--- a/src/sensors/softfusion/runtimecalibration/RuntimeCalibration.h
+++ b/src/sensors/softfusion/runtimecalibration/RuntimeCalibration.h
@@ -99,7 +99,10 @@ public:
 
 		gyroBiasCalibrationStep.swapCalibrationIfNecessary();
 
-		computeNextCalibrationStep();
+		currentStep = &sampleRateCalibrationStep;
+		currentStep->start();
+		nextCalibrationStep = CalibrationStepEnum::SAMPLING_RATE;
+
 		calculateZROChange();
 
 		printCalibration();
@@ -229,10 +232,7 @@ private:
 	};
 
 	void computeNextCalibrationStep() {
-		if (!calibration.sensorTimestepsCalibrated) {
-			nextCalibrationStep = CalibrationStepEnum::SAMPLING_RATE;
-			currentStep = &sampleRateCalibrationStep;
-		} else if (!calibration.motionlessCalibrated && Base::HasMotionlessCalib) {
+		if (!calibration.motionlessCalibrated && Base::HasMotionlessCalib) {
 			nextCalibrationStep = CalibrationStepEnum::MOTIONLESS;
 			currentStep = &motionlessCalibrationStep;
 		} else if (calibration.gyroPointsCalibrated == 0) {
@@ -323,12 +323,12 @@ private:
 
 	void printCalibration(CalibrationPrintFlags toPrint = PrintAllCalibration) {
 		if (any(toPrint & CalibrationPrintFlags::TIMESTEPS)) {
-			if (calibration.sensorTimestepsCalibrated) {
+			if (activeCalibration.sensorTimestepsCalibrated) {
 				logger.info(
 					"Calibrated timesteps: Accel %f, Gyro %f, Temperature %f",
-					calibration.A_Ts,
-					calibration.G_Ts,
-					calibration.T_Ts
+					activeCalibration.A_Ts,
+					activeCalibration.G_Ts,
+					activeCalibration.T_Ts
 				);
 			} else {
 				logger.info("Sensor timesteps not calibrated");
@@ -389,12 +389,12 @@ private:
 		}
 	}
 
-	CalibrationStepEnum nextCalibrationStep = CalibrationStepEnum::MOTIONLESS;
+	CalibrationStepEnum nextCalibrationStep = CalibrationStepEnum::SAMPLING_RATE;
 
 	static constexpr float initialStartupDelaySeconds = 5;
 	uint64_t startupMillis = millis();
 
-	SampleRateCalibrationStep<RawSensorT> sampleRateCalibrationStep{calibration};
+	SampleRateCalibrationStep<RawSensorT> sampleRateCalibrationStep{activeCalibration};
 	MotionlessCalibrationStep<IMU, RawSensorT> motionlessCalibrationStep{
 		calibration,
 		sensor