Timestep calibration wrong on extensions (Official SlimeVR V1.2 trackers) #34

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MrUnknownDE · 2026-04-05T17:51:40+02:00

MrUnknownDE commented

2026-04-05 17:51:40 +02:00

Originally created by @ImSapphire on 11/13/2025

On v0.7.0 and newer, the startup timestep calibration is completely off on extensions, causing severe overshooting/undershooting of rotation

Serial console log

[INFO ] [SlimeVR] SlimeVR v0.7.1 starting up...
[INFO ] [SlimeVR] Vendor: SlimeVR (https://slimevr.dev), product: SlimeVR Tracker v1.2, firmware update url: SlimeVR/SlimeVR-Tracker-ESP, name: BOARD_SLIMEVR_V1_2-firmware
[INFO ] [Configuration] Found up-to-date configuration v1
[DEBUG] [Configuration] Found sensor calibration for SoftFusion (runtime calibration) at index 0
[DEBUG] [Configuration] Found sensor calibration for SoftFusion (runtime calibration) at index 1
[DEBUG] [Configuration] Found sensor toggle state at index 0
[DEBUG] [Configuration] Found sensor toggle state at index 1
[INFO ] [Configuration] Loaded configuration
[INFO ] [SPI] SPI settings: clock: 24000000, bit order: 0x01, data mode: 0x11
[INFO ] [SensorManager] Sensor 0 automatically detected with ICM45686
[INFO ] [ICM-45686:0] Sensor timesteps not calibrated
[INFO ] [ICM-45686:0] Calibrated gyro bias at 23.625000C: 9.065366 13.958049 -10.560000
[INFO ] [ICM-45686:0] Calibrated gyro bias at 41.375000C: 15.986341 3.879025 -12.320000
[INFO ] [ICM-45686:0] Accel bias not calibrated
[INFO ] [MagDriver] Trying mag QMC6309!
[INFO ] [MagDriver] Found mag QMC6309! Initializing
[INFO ] [SensorManager] Sensor 0 configured
[INFO ] [SensorManager] Sensor 1 automatically detected with ICM45686
[INFO ] [ICM-45686:1] Sensor timesteps not calibrated
[INFO ] [ICM-45686:1] Calibrated gyro bias at 24.187500C: 36.635742 7.428711 -2.073242
[INFO ] [ICM-45686:1] Calibrated gyro bias at 35.000000C: 43.934696 1.490253 -5.552631
[INFO ] [ICM-45686:1] Accel bias not calibrated
[INFO ] [MagDriver] Trying mag QMC6309!
[INFO ] [MagDriver] Found mag QMC6309! Initializing
[INFO ] [SensorManager] Sensor 1 configured
[INFO ] [SensorManager] 2 sensor(s) configured
[INFO ] [WiFiHandler] Setting up WiFi
[INFO ] [WiFiHandler] Loaded credentials for SSID 'TP-Link_93A0' and pass length 15
[NOTICE] OTA updates allowed
......[INFO ] [ICM-45686:1] Rest calibration completed
.[INFO ] [WiFiHandler] Connected successfully to SSID 'TP-Link_93A0', IP address 192.168.0.179
[INFO ] [UDPConnection] Searching for the server on the local network...
[DEBUG] [UDPConnection] Handshake successful, server is 192.168.0.243:6969
[DEBUG] [UDPConnection] Server supports packet bundling
[INFO ] [ICM-45686:0] Calibrated timesteps: Accel 0.009766, Gyro 0.004883, Temperature 0.004883
[DEBUG] [Configuration] Saved configuration
[INFO ] [ICM-45686:1] Calibrated timesteps: Accel 0.010309, Gyro 0.005154, Temperature 0.005154
[DEBUG] [Configuration] Saved configuration

*Originally created by @ImSapphire on 11/13/2025* On v0.7.0 and newer, the startup timestep calibration is completely off on extensions, causing severe overshooting/undershooting of rotation <details> <summary>Serial console log</summary> ``` [INFO ] [SlimeVR] SlimeVR v0.7.1 starting up... [INFO ] [SlimeVR] Vendor: SlimeVR (https://slimevr.dev), product: SlimeVR Tracker v1.2, firmware update url: SlimeVR/SlimeVR-Tracker-ESP, name: BOARD_SLIMEVR_V1_2-firmware [INFO ] [Configuration] Found up-to-date configuration v1 [DEBUG] [Configuration] Found sensor calibration for SoftFusion (runtime calibration) at index 0 [DEBUG] [Configuration] Found sensor calibration for SoftFusion (runtime calibration) at index 1 [DEBUG] [Configuration] Found sensor toggle state at index 0 [DEBUG] [Configuration] Found sensor toggle state at index 1 [INFO ] [Configuration] Loaded configuration [INFO ] [SPI] SPI settings: clock: 24000000, bit order: 0x01, data mode: 0x11 [INFO ] [SensorManager] Sensor 0 automatically detected with ICM45686 [INFO ] [ICM-45686:0] Sensor timesteps not calibrated [INFO ] [ICM-45686:0] Calibrated gyro bias at 23.625000C: 9.065366 13.958049 -10.560000 [INFO ] [ICM-45686:0] Calibrated gyro bias at 41.375000C: 15.986341 3.879025 -12.320000 [INFO ] [ICM-45686:0] Accel bias not calibrated [INFO ] [MagDriver] Trying mag QMC6309! [INFO ] [MagDriver] Found mag QMC6309! Initializing [INFO ] [SensorManager] Sensor 0 configured [INFO ] [SensorManager] Sensor 1 automatically detected with ICM45686 [INFO ] [ICM-45686:1] Sensor timesteps not calibrated [INFO ] [ICM-45686:1] Calibrated gyro bias at 24.187500C: 36.635742 7.428711 -2.073242 [INFO ] [ICM-45686:1] Calibrated gyro bias at 35.000000C: 43.934696 1.490253 -5.552631 [INFO ] [ICM-45686:1] Accel bias not calibrated [INFO ] [MagDriver] Trying mag QMC6309! [INFO ] [MagDriver] Found mag QMC6309! Initializing [INFO ] [SensorManager] Sensor 1 configured [INFO ] [SensorManager] 2 sensor(s) configured [INFO ] [WiFiHandler] Setting up WiFi [INFO ] [WiFiHandler] Loaded credentials for SSID 'TP-Link_93A0' and pass length 15 [NOTICE] OTA updates allowed ......[INFO ] [ICM-45686:1] Rest calibration completed .[INFO ] [WiFiHandler] Connected successfully to SSID 'TP-Link_93A0', IP address 192.168.0.179 [INFO ] [UDPConnection] Searching for the server on the local network... [DEBUG] [UDPConnection] Handshake successful, server is 192.168.0.243:6969 [DEBUG] [UDPConnection] Server supports packet bundling [INFO ] [ICM-45686:0] Calibrated timesteps: Accel 0.009766, Gyro 0.004883, Temperature 0.004883 [DEBUG] [Configuration] Saved configuration [INFO ] [ICM-45686:1] Calibrated timesteps: Accel 0.010309, Gyro 0.005154, Temperature 0.005154 [DEBUG] [Configuration] Saved configuration ``` </details>

MrUnknownDE closed this issue

2026-04-05 17:51:40 +02:00

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Reference: github/SlimeVR-Tracker-ESP#34