Revert TrackerResetsHandler & add comments#1748
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ButterscotchV wants to merge 2 commits intomainfrom
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My changes made in #1595 were not correct and likely made an existing problem worse; we should be computing (and probably applying) heading correction in IMU space, not bone space.
Originally, we had
gyroFixwhich did apply heading correction in IMU space, I removed it because I realized we were unecessarily performing heading correction twice, but I did not consider the implications of applying a heading correction in bone space -- the conversion from IMU space to bone space will warp the heading correction and apply it to more than just world oriented yaw, the axis where drift actually occurs. In essence, this means that IMU drift will accumulate in the pitch and roll over time where a full reset is not performed (applying it with gyroFix, before converting spaces).The reason that the changes I made worked at all seems to be because official SlimeVR trackers have a correct IMU rotation applied, so the actual value of
attachmentFixwill be approximately equal to the quaternion identity, therefore the heading correction will be approximately equal between IMU and bone spaces.tl;dr: This will revert to the original behaviour but with acceleration fixed, there is much work to be done to fix things beyond this.