Spine Yaw Compensation to keep spine trackers from drifting

[jabberrock]

Prevents the spine trackers from drifting, by nudging them to stay aligned to the headset.

Players are usually standing facing forwards or walking forwards, where the spine trackers are aligned to the yaw of the headset. However due to yaw drift, the spine trackers will eventually rotate to the side, requiring a reset. This feature adds a small centering rotation to compensate for the yaw drift. (For now, this compensation only activates when your trackers are pointing "up", e.g. when you're standing or sitting straight up.)

The correction amount should be approximately the maximum yaw drift of your gyroscope (0.3 degrees/sec is a good default).

SlimeVR/SolarXR-Protocol#154
SlimeVR/SolarXR-Protocol#155

[Eirenliel]

Please rebase SolarXR, it was merged.

[Eirenliel]

I think this can be enabled for legs too since it only works when standing up! Ideally, the setting would be part of Drift compensation setting that's now with 3 selectors: Off, Static/Simple (Old one), Dynamic/Advanced (this one). Then for this to have a setting of compensation speed, maybe a slider in 0.05deg/min intervals, and a selector for which parts to apply it: Upper body, Legs, Arms, Feet. There also needs to be an infomation that Dynamic only works with HMD and Static can work without it.

But this can be merged after review already, and settings can be added in the future. Very excited to RC this!

[jabberrock]

@Eirenliel thanks taking a look! Definitely can look into putting this into the drift compensation setting later. (Or do you think I should just update it now?)

If this works well, I was going to add alignment between upper leg and lower leg. Maybe even foot?

But I'm not sure if upper leg can be aligned to the spine. For example, when I stand straight, I notice that my legs are twisted slightly away from my body. I was thinking maybe "balancing" the left and right legs so that they're at the same angle away from the spine...

[Eirenliel]

If this works well, I was going to add alignment between upper leg and lower leg. Maybe even foot?

Upper and lower leg should have the same yaw, so they're already averaged.

But I'm not sure if upper leg can be aligned to the spine. For example, when I stand straight, I notice that my legs are twisted slightly away from my body. I was thinking maybe "balancing" the left and right legs so that they're at the same angle away from the spine...

It shouldn't matter if you reset the same way too. Also since it's a setting people can turn it off if it doesn't work for them and we can improve it in the future.

(Or do you think I should just update it now?)

If you want, we're not merging util Monday anyway.

Also pelase fix build errors (lint)

[Eirenliel]

This needs to be Beta'd before it can be merged.

[jabberrock]

@Eirenliel How do I get the build system to rebuild, and how does the beta process work? Sorry, it's my first PR. Thanks!

[Erimelowo]

Since you're a first-time contributor, someone else needs to add their approval for the CI to run.

[jabberrock]

Sigh oops I didn't realize there was a Java linter too

[Eirenliel]

For Beta you need to create a post in beta-testing-forum on Discord! If you can't, ask some contributors