diff --git a/gui/public/i18n/en-x-owo/translation.ftl b/gui/public/i18n/en-x-owo/translation.ftl
index 5c95a7f6fb..495023b98d 100644
--- a/gui/public/i18n/en-x-owo/translation.ftl
+++ b/gui/public/i18n/en-x-owo/translation.ftl
@@ -128,11 +128,14 @@ tracker-settings-assignment_section-edit = ewdit assiwnment
 tracker-settings-mounting_section = meownting pawsition
 tracker-settings-mounting_section-description = whewe is the twackaw mownted?
 tracker-settings-mounting_section-edit = edit meownting
+tracker-settings-drift_compensation_section = awwow dwift compensation
+tracker-settings-drift_compensation_section-description = shouwd this twackew compensate fow its dwift when dwift compensation is enabwed?
+tracker-settings-drift_compensation_section-edit = awwow dwift compensation
 # The .<name> means it's an attribute and it's related to the top key.
 # In this case that is the settings for the assignment section.
 tracker-settings-name_section = twackaw name
-tracker-settings-name_section-placeholder = ewimewl's weft pawb
 tracker-settings-name_section-description = owo whats dis?
+tracker-settings-name_section-placeholder = ewimewl's weft pawb
 
 ## Tracker part card info
 tracker-part_card-no_name = no name
@@ -213,19 +216,27 @@ settings-general-steamvr-trackers-hands = Hands
 
 ## Tracker mechanics
 settings-general-tracker_mechanics = twayckaw mechanics~
-settings-general-tracker_mechanics-subtitle = fiwtering~
+settings-general-tracker_mechanics-filtering = fiwtering~
 # This also cares about multilines
-settings-general-tracker_mechanics-description =
+settings-general-tracker_mechanics-filtering-description =
     chooce teh fiwwtewing type fow youw twackaws.
     pwediction pwedicts movment while smowthing smowthens movment.
-settings-general-tracker_mechanics-filtering_type = fiwtewing type~
-settings-general-tracker_mechanics-filtering_type-none = no fiwwtewing~
-settings-general-tracker_mechanics-filtering_type-none-description = use wowtations as is. wiw nawt do any fiwwtewing.
-settings-general-tracker_mechanics-filtering_type-smoothing = smowthing
-settings-general-tracker_mechanics-filtering_type-smoothing-description = smowthes movements but adds some watency~
-settings-general-tracker_mechanics-filtering_type-prediction = pwediction~
-settings-general-tracker_mechanics-filtering_type-prediction-description = wowduces wowcyancy and makes wowvements mowe wowappy, but may incwease jiwitty
-settings-general-tracker_mechanics-amount = amownt
+settings-general-tracker_mechanics-filtering-type = fiwtewing type~
+settings-general-tracker_mechanics-filtering-type-none = no fiwwtewing~
+settings-general-tracker_mechanics-filtering-type-none-description = use wowtations as is. wiw nawt do any fiwwtewing.
+settings-general-tracker_mechanics-filtering-type-smoothing = smowthing
+settings-general-tracker_mechanics-filtering-type-smoothing-description = smowthes movements but adds some watency~
+settings-general-tracker_mechanics-filtering-type-prediction = pwediction~
+settings-general-tracker_mechanics-filtering-type-prediction-description = wowduces wowcyancy and makes wowvements mowe wowappy, but may incwease jiwitty
+settings-general-tracker_mechanics-filtering-amount = amownt
+settings-general-tracker_mechanics-drift_compensation = dwift compensation
+# This cares about multilines
+settings-general-tracker_mechanics-drift_compensation-description =
+    compensates imu yaw dwift by appwying an invewse wotation.
+    change amownt of compensation and how many wesets awe taken into accouwnt.
+settings-general-tracker_mechanics-drift_compensation-enabled-label = dwift compensation
+settings-general-tracker_mechanics-drift_compensation-amount-label = compensation amownt
+settings-general-tracker_mechanics-drift_compensation-max_resets-label = nuwmbew of wesets uwsed
 
 ## FK/Tracking settings
 settings-general-fk_settings = fk sewttings
diff --git a/gui/public/i18n/en/translation.ftl b/gui/public/i18n/en/translation.ftl
index f0cc7ab50e..a3a449654a 100644
--- a/gui/public/i18n/en/translation.ftl
+++ b/gui/public/i18n/en/translation.ftl
@@ -128,11 +128,14 @@ tracker-settings-assignment_section-edit = Edit assignment
 tracker-settings-mounting_section = Mounting position
 tracker-settings-mounting_section-description = Where is the tracker mounted?
 tracker-settings-mounting_section-edit = Edit mounting
+tracker-settings-drift_compensation_section = Allow drift compensation
+tracker-settings-drift_compensation_section-description = Should this tracker compensate for its drift when drift compensation is enabled?
+tracker-settings-drift_compensation_section-edit = Allow drift compensation
 # The .<name> means it's an attribute and it's related to the top key.
 # In this case that is the settings for the assignment section.
 tracker-settings-name_section = Tracker name
-tracker-settings-name_section-placeholder = NightyBeast's left leg
 tracker-settings-name_section-description = Give it a cute nickname :)
+tracker-settings-name_section-placeholder = NightyBeast's left leg
 
 ## Tracker part card info
 tracker-part_card-no_name = No name
@@ -187,7 +190,7 @@ mounting_selection_menu-close = Close
 settings-sidebar-title = Settings
 settings-sidebar-general = General
 settings-sidebar-tracker_mechanics = Tracker mechanics
-settings-sidebar-fk_settings = FK settings
+settings-sidebar-fk_settings = Tracking settings
 settings-sidebar-gesture_control = Gesture control
 settings-sidebar-interface = Interface
 settings-sidebar-osc_router = OSC router
@@ -213,19 +216,27 @@ settings-general-steamvr-trackers-hands = Hands
 
 ## Tracker mechanics
 settings-general-tracker_mechanics = Tracker mechanics
-settings-general-tracker_mechanics-subtitle = Filtering
+settings-general-tracker_mechanics-filtering = Filtering
 # This also cares about multilines
-settings-general-tracker_mechanics-description =
+settings-general-tracker_mechanics-filtering-description =
     Choose the filtering type for your trackers.
     Prediction predicts movement while smoothing smoothens movement.
-settings-general-tracker_mechanics-filtering_type = Filtering type
-settings-general-tracker_mechanics-filtering_type-none = No filtering
-settings-general-tracker_mechanics-filtering_type-none-description = Use rotations as is. Will not do any filtering.
-settings-general-tracker_mechanics-filtering_type-smoothing = Smoothing
-settings-general-tracker_mechanics-filtering_type-smoothing-description = Smooths movements but adds some latency.
-settings-general-tracker_mechanics-filtering_type-prediction = Prediction
-settings-general-tracker_mechanics-filtering_type-prediction-description = Reduces latency and makes movements more snappy, but may increase jitter.
-settings-general-tracker_mechanics-amount = Amount
+settings-general-tracker_mechanics-filtering-type = Filtering type
+settings-general-tracker_mechanics-filtering-type-none = No filtering
+settings-general-tracker_mechanics-filtering-type-none-description = Use rotations as is. Will not do any filtering.
+settings-general-tracker_mechanics-filtering-type-smoothing = Smoothing
+settings-general-tracker_mechanics-filtering-type-smoothing-description = Smooths movements but adds some latency.
+settings-general-tracker_mechanics-filtering-type-prediction = Prediction
+settings-general-tracker_mechanics-filtering-type-prediction-description = Reduces latency and makes movements more snappy, but may increase jitter.
+settings-general-tracker_mechanics-filtering-amount = Amount
+settings-general-tracker_mechanics-drift_compensation = Drift compensation
+# This cares about multilines
+settings-general-tracker_mechanics-drift_compensation-description =
+    Compensates IMU yaw drift by applying an inverse rotation.
+    Change amount of compensation and up to how many resets are taken into account.
+settings-general-tracker_mechanics-drift_compensation-enabled-label = Drift compensation
+settings-general-tracker_mechanics-drift_compensation-amount-label = Compensation amount
+settings-general-tracker_mechanics-drift_compensation-max_resets-label = Use up to x last resets
 
 ## FK/Tracking settings
 settings-general-fk_settings = Tracking settings
diff --git a/gui/public/i18n/es-419/translation.ftl b/gui/public/i18n/es-419/translation.ftl
index 76a103a7da..f5fd495d20 100644
--- a/gui/public/i18n/es-419/translation.ftl
+++ b/gui/public/i18n/es-419/translation.ftl
@@ -128,11 +128,14 @@ tracker-settings-assignment_section-edit = Editar asignación
 tracker-settings-mounting_section = Posición de montura
 tracker-settings-mounting_section-description = ¿Dónde está montado el sensor?
 tracker-settings-mounting_section-edit = Editar montura
+tracker-settings-drift_compensation_section = Allow drift compensation
+tracker-settings-drift_compensation_section-description = Should this tracker compensate for its drift when drift compensation is enabled?
+tracker-settings-drift_compensation_section-edit = Allow drift compensation
 # The .<name> means it's an attribute and it's related to the top key.
 # In this case that is the settings for the assignment section.
 tracker-settings-name_section = Nombre del sensor
-tracker-settings-name_section-placeholder = Pierna izquierda de NightyBeast
 tracker-settings-name_section-description = Dale un apodo bonito :)
+tracker-settings-name_section-placeholder = Pierna izquierda de NightyBeast
 
 ## Tracker part card info
 tracker-part_card-no_name = Sin nombre
@@ -213,19 +216,27 @@ settings-general-steamvr-trackers-hands = Manos
 
 ## Tracker mechanics
 settings-general-tracker_mechanics = Mecánicas del sensor
-settings-general-tracker_mechanics-subtitle = Filtrado
+settings-general-tracker_mechanics-filtering = Filtrado
 # This also cares about multilines
-settings-general-tracker_mechanics-description =
+settings-general-tracker_mechanics-filtering-description =
     Selecciona un tipo de filtro para tus sensores.
     Predicción predice el movimiento mientras que el suavizado suaviza el movimiento.
-settings-general-tracker_mechanics-filtering_type = Tipos de filtro
-settings-general-tracker_mechanics-filtering_type-none = Sin filtro
-settings-general-tracker_mechanics-filtering_type-none-description = Usa las rotaciones como son. No se realizará ningún filtrado.
-settings-general-tracker_mechanics-filtering_type-smoothing = Suavizado
-settings-general-tracker_mechanics-filtering_type-smoothing-description = Suaviza los movimientos pero añade algo de latencia.
-settings-general-tracker_mechanics-filtering_type-prediction = Predicción
-settings-general-tracker_mechanics-filtering_type-prediction-description = Reduce la latencia y los movimientos serán más inmediatos, pero puede incrementar la inestabilidad.
-settings-general-tracker_mechanics-amount = Cantidad
+settings-general-tracker_mechanics-filtering-type = Tipos de filtro
+settings-general-tracker_mechanics-filtering-type-none = Sin filtro
+settings-general-tracker_mechanics-filtering-type-none-description = Usa las rotaciones como son. No se realizará ningún filtrado.
+settings-general-tracker_mechanics-filtering-type-smoothing = Suavizado
+settings-general-tracker_mechanics-filtering-type-smoothing-description = Suaviza los movimientos pero añade algo de latencia.
+settings-general-tracker_mechanics-filtering-type-prediction = Predicción
+settings-general-tracker_mechanics-filtering-type-prediction-description = Reduce la latencia y los movimientos serán más inmediatos, pero puede incrementar la inestabilidad.
+settings-general-tracker_mechanics-filtering-amount = Cantidad
+settings-general-tracker_mechanics-drift_compensation = Drift compensation
+# This cares about multilines
+settings-general-tracker_mechanics-drift_compensation-description =
+    Compensates IMU yaw drift by applying an inverse rotation.
+    Change amount of compensation and up to how many resets are taken into account.
+settings-general-tracker_mechanics-drift_compensation-enabled-label = Drift compensation
+settings-general-tracker_mechanics-drift_compensation-amount-label = Compensation amount
+settings-general-tracker_mechanics-drift_compensation-max_resets-label = Use up to x last resets
 
 ## FK/Tracking settings
 settings-general-fk_settings = Ajustes de sensores
diff --git a/gui/public/i18n/fr/translation.ftl b/gui/public/i18n/fr/translation.ftl
index 1ce5f6c09f..bf62d47298 100644
--- a/gui/public/i18n/fr/translation.ftl
+++ b/gui/public/i18n/fr/translation.ftl
@@ -128,11 +128,14 @@ tracker-settings-assignment_section-edit = Ré-assigner
 tracker-settings-mounting_section = Orientation du capteur
 tracker-settings-mounting_section-description = Dans quelle direction pointe le capteur?
 tracker-settings-mounting_section-edit = Changer l'orientation
+tracker-settings-drift_compensation_section = Permettre la compensation de la dérive
+tracker-settings-drift_compensation_section-description = Ce capteur devrait-il compenser pour sa dérive si l'option est activée?
+tracker-settings-drift_compensation_section-edit = Permettre la compensation de la dérive
 # The .<name> means it's an attribute and it's related to the top key.
 # In this case that is the settings for the assignment section.
 tracker-settings-name_section = Nom personalisé
-tracker-settings-name_section-placeholder = Patte gauche d'Erimel
 tracker-settings-name_section-description = Donnez-lui un joli surnom :3
+tracker-settings-name_section-placeholder = Patte gauche d'Erimel
 
 ## Tracker part card info
 tracker-part_card-no_name = Sans nom
@@ -213,19 +216,27 @@ settings-general-steamvr-trackers-hands = Mains
 
 ## Tracker mechanics
 settings-general-tracker_mechanics = Paramètres des capteurs
-settings-general-tracker_mechanics-subtitle = Filtrage
+settings-general-tracker_mechanics-filtering = Filtrage
 # This also cares about multilines
-settings-general-tracker_mechanics-description =
+settings-general-tracker_mechanics-filtering-description =
     Choisissez le type de filtrage pour vos capteurs.
     La prédiction prédit les mouvements tandis que la fluidification rend les mouvements plus fluides.
-settings-general-tracker_mechanics-filtering_type = Type de filtrage
-settings-general-tracker_mechanics-filtering_type-none = Pas de filtrage
-settings-general-tracker_mechanics-filtering_type-none-description = Utilisez les rotations telles quelles.
-settings-general-tracker_mechanics-filtering_type-smoothing = Fluidification
-settings-general-tracker_mechanics-filtering_type-smoothing-description = Fluidifie les mouvements mais ajoute un peu de latence.
-settings-general-tracker_mechanics-filtering_type-prediction = Prédiction
-settings-general-tracker_mechanics-filtering_type-prediction-description = Réduit la latence et rend les mouvements plus vifs, mais moins fluides.
-settings-general-tracker_mechanics-amount = Intensité du filtrage
+settings-general-tracker_mechanics-filtering-type = Type de filtrage
+settings-general-tracker_mechanics-filtering-type-none = Pas de filtrage
+settings-general-tracker_mechanics-filtering-type-none-description = Utilisez les rotations telles quelles.
+settings-general-tracker_mechanics-filtering-type-smoothing = Fluidification
+settings-general-tracker_mechanics-filtering-type-smoothing-description = Fluidifie les mouvements mais ajoute un peu de latence.
+settings-general-tracker_mechanics-filtering-type-prediction = Prédiction
+settings-general-tracker_mechanics-filtering-type-prediction-description = Réduit la latence et rend les mouvements plus vifs, mais moins fluides.
+settings-general-tracker_mechanics-filtering-amount = Intensité du filtrage
+settings-general-tracker_mechanics-drift_compensation = Compensation de la dérive
+# This cares about multilines
+settings-general-tracker_mechanics-drift_compensation-description =
+    Compense la dérive des gyroscopes en appliquant une rotation inverse.
+    Modifier la force de la compensation et le nombre de réinitialisations prises en compte.
+settings-general-tracker_mechanics-drift_compensation-enabled-label = Compensation de la dérive
+settings-general-tracker_mechanics-drift_compensation-amount-label = Force de la compensation
+settings-general-tracker_mechanics-drift_compensation-max_resets-label = Nombre de réinitialisations prises en compte
 
 ## FK/Tracking settings
 settings-general-fk_settings = Paramètres de la capture
diff --git a/gui/public/i18n/it/translation.ftl b/gui/public/i18n/it/translation.ftl
index cdcffb17bb..8194b954e8 100644
--- a/gui/public/i18n/it/translation.ftl
+++ b/gui/public/i18n/it/translation.ftl
@@ -128,11 +128,14 @@ tracker-settings-assignment_section-edit = Cambia assegnazione
 tracker-settings-mounting_section = posizionamento di montaggio
 tracker-settings-mounting_section-description =  Come è posizionato il tracker?
 tracker-settings-mounting_section-edit = Cambia posizionamento
+tracker-settings-drift_compensation_section = Allow drift compensation
+tracker-settings-drift_compensation_section-description = Should this tracker compensate for its drift when drift compensation is enabled?
+tracker-settings-drift_compensation_section-edit = Allow drift compensation
 # The .<name> means it's an attribute and it's related to the top key.
 # In this case that is the settings for the assignment section.
 tracker-settings-name_section = Nome del tracker
-tracker-settings-name_section-placeholder = Gamba destra di NightyQueer
 tracker-settings-name_section-description = Scegli un nomignolo carino :)
+tracker-settings-name_section-placeholder = Gamba destra di NightyQueer
 
 ## Tracker part card info
 tracker-part_card-no_name = Nessun nome
@@ -213,19 +216,27 @@ settings-general-steamvr-trackers-hands = Mani
 
 ## Tracker mechanics
 settings-general-tracker_mechanics = Comportamento del tracker
-settings-general-tracker_mechanics-subtitle = Filtro movimenti
+settings-general-tracker_mechanics-filtering = Filtro movimenti
 # This also cares about multilines
-settings-general-tracker_mechanics-description =
+settings-general-tracker_mechanics-filtering-description =
     Scegli la tipologia di filtraggio movimenti per il tuo tracker.
     Predizione anticipa i movimenti, mentre Attenuazione attenua movimenti eccessivi.
-settings-general-tracker_mechanics-filtering_type = Tipologia di filtraggio
-settings-general-tracker_mechanics-filtering_type-none = Non usare alcun filtraggio
-settings-general-tracker_mechanics-filtering_type-none-description = Usa le rotazioni così come sono. Non eseguirà alcun filtro.
-settings-general-tracker_mechanics-filtering_type-smoothing = Attenuazione
-settings-general-tracker_mechanics-filtering_type-smoothing-description = Attenua movimenti eccessivi ma aggiunge ritardo.
-settings-general-tracker_mechanics-filtering_type-prediction = Predizione
-settings-general-tracker_mechanics-filtering_type-prediction-description = Riduce ritardo e rende movimenti più istantanei, ma può introdurre tremolio.
-settings-general-tracker_mechanics-amount = Quantità
+settings-general-tracker_mechanics-filtering-type = Tipologia di filtraggio
+settings-general-tracker_mechanics-filtering-type-none = Non usare alcun filtraggio
+settings-general-tracker_mechanics-filtering-type-none-description = Usa le rotazioni così come sono. Non eseguirà alcun filtro.
+settings-general-tracker_mechanics-filtering-type-smoothing = Attenuazione
+settings-general-tracker_mechanics-filtering-type-smoothing-description = Attenua movimenti eccessivi ma aggiunge ritardo.
+settings-general-tracker_mechanics-filtering-type-prediction = Predizione
+settings-general-tracker_mechanics-filtering-type-prediction-description = Riduce ritardo e rende movimenti più istantanei, ma può introdurre tremolio.
+settings-general-tracker_mechanics-filtering-amount = Quantità
+settings-general-tracker_mechanics-drift_compensation = Drift compensation
+# This cares about multilines
+settings-general-tracker_mechanics-drift_compensation-description =
+    Compensates IMU yaw drift by applying an inverse rotation.
+    Change amount of compensation and up to how many resets are taken into account.
+settings-general-tracker_mechanics-drift_compensation-enabled-label = Drift compensation
+settings-general-tracker_mechanics-drift_compensation-amount-label = Compensation amount
+settings-general-tracker_mechanics-drift_compensation-max_resets-label = Use up to x last resets
 
 ## FK/Tracking settings
 settings-general-fk_settings = Impostazioni FK
diff --git a/gui/public/i18n/ja/translation.ftl b/gui/public/i18n/ja/translation.ftl
index 3f54119b03..ebefd06ef8 100644
--- a/gui/public/i18n/ja/translation.ftl
+++ b/gui/public/i18n/ja/translation.ftl
@@ -128,11 +128,14 @@ tracker-settings-assignment_section-edit = 割り当ての編集
 tracker-settings-mounting_section = 装着方向
 tracker-settings-mounting_section-description = トラッカーをどの方向に装着していますか?
 tracker-settings-mounting_section-edit = 装着向きの編集
+tracker-settings-drift_compensation_section = Allow drift compensation
+tracker-settings-drift_compensation_section-description = Should this tracker compensate for its drift when drift compensation is enabled?
+tracker-settings-drift_compensation_section-edit = Allow drift compensation
 # The .<name> means it's an attribute and it's related to the top key.
 # In this case that is the settings for the assignment section.
 tracker-settings-name_section = トラッカー名称
-tracker-settings-name_section-placeholder = NightyBeast's left leg
 tracker-settings-name_section-description = 自由に名称をつけてください
+tracker-settings-name_section-placeholder = NightyBeast's left leg
 
 ## Tracker part card info
 tracker-part_card-no_name = 名称無し
@@ -213,19 +216,27 @@ settings-general-steamvr-trackers-hands = Hands
 
 ## Tracker mechanics
 settings-general-tracker_mechanics = トラッカーメカニズム
-settings-general-tracker_mechanics-subtitle = フィルター機能
+settings-general-tracker_mechanics-filtering = フィルター機能
 # This also cares about multilines
-settings-general-tracker_mechanics-description =
+settings-general-tracker_mechanics-filtering-description =
     トラッカーのフィルタリングの種類を選択します。
     Predictionは動きを予測し、Smoothingは動きを滑らかにする。
-settings-general-tracker_mechanics-filtering_type = フィルタータイプ
-settings-general-tracker_mechanics-filtering_type-none = No filtering
-settings-general-tracker_mechanics-filtering_type-none-description = トラッカーの値をそのまま使用します。フィルタリングは行いません。
-settings-general-tracker_mechanics-filtering_type-smoothing = Smoothing
-settings-general-tracker_mechanics-filtering_type-smoothing-description = 動きを滑らかにしますが、若干の遅れが発生します
-settings-general-tracker_mechanics-filtering_type-prediction = Prediction
-settings-general-tracker_mechanics-filtering_type-prediction-description = レイテンシーを減らし、動きをよりキビキビさせますが、ジッターが増加する場合があります。
-settings-general-tracker_mechanics-amount = 数値
+settings-general-tracker_mechanics-filtering-type = フィルタータイプ
+settings-general-tracker_mechanics-filtering-type-none = No filtering
+settings-general-tracker_mechanics-filtering-type-none-description = トラッカーの値をそのまま使用します。フィルタリングは行いません。
+settings-general-tracker_mechanics-filtering-type-smoothing = Smoothing
+settings-general-tracker_mechanics-filtering-type-smoothing-description = 動きを滑らかにしますが、若干の遅れが発生します
+settings-general-tracker_mechanics-filtering-type-prediction = Prediction
+settings-general-tracker_mechanics-filtering-type-prediction-description = レイテンシーを減らし、動きをよりキビキビさせますが、ジッターが増加する場合があります。
+settings-general-tracker_mechanics-filtering-amount = 数値
+settings-general-tracker_mechanics-drift_compensation = Drift compensation
+# This cares about multilines
+settings-general-tracker_mechanics-drift_compensation-description =
+    Compensates IMU yaw drift by applying an inverse rotation.
+    Change amount of compensation and up to how many resets are taken into account.
+settings-general-tracker_mechanics-drift_compensation-enabled-label = Drift compensation
+settings-general-tracker_mechanics-drift_compensation-amount-label = Compensation amount
+settings-general-tracker_mechanics-drift_compensation-max_resets-label = Use up to x last resets
 
 ## FK settings
 settings-general-fk_settings = FK設定
diff --git a/gui/public/i18n/ko/translation.ftl b/gui/public/i18n/ko/translation.ftl
index f621a71d52..e6d2b3a45c 100644
--- a/gui/public/i18n/ko/translation.ftl
+++ b/gui/public/i18n/ko/translation.ftl
@@ -128,11 +128,14 @@ tracker-settings-assignment_section-edit = 위치 수정
 tracker-settings-mounting_section = 착용 방향
 tracker-settings-mounting_section-description = 트래커는 어디에 착용하나요?
 tracker-settings-mounting_section-edit = 방향 수정
+tracker-settings-drift_compensation_section = Allow drift compensation
+tracker-settings-drift_compensation_section-description = Should this tracker compensate for its drift when drift compensation is enabled?
+tracker-settings-drift_compensation_section-edit = Allow drift compensation
 # The .<name> means it's an attribute and it's related to the top key.
 # In this case that is the settings for the assignment section.
 tracker-settings-name_section = 트래커 이름
-tracker-settings-name_section-placeholder = NightyBeast's left leg
 tracker-settings-name_section-description = 귀여운 이름을 지어주세요! >_<
+tracker-settings-name_section-placeholder = NightyBeast's left leg
 
 ## Tracker part card info
 tracker-part_card-no_name = 이름 없음
@@ -213,19 +216,27 @@ settings-general-steamvr-trackers-hands = Hands
 
 ## Tracker mechanics
 settings-general-tracker_mechanics = 트래커 역학
-settings-general-tracker_mechanics-subtitle = 필터링
+settings-general-tracker_mechanics-filtering = 필터링
 # This also cares about multilines
-settings-general-tracker_mechanics-description =
+settings-general-tracker_mechanics-filtering-description =
     트래커의 필터링 유형을 선택하세요.
     Prediction은 움직임을 예측하고 Smoothing은 움직임을 부드럽게 해요.
-settings-general-tracker_mechanics-filtering_type = 필터링 타입
-settings-general-tracker_mechanics-filtering_type-none = 필터링 없음
-settings-general-tracker_mechanics-filtering_type-none-description = 어떠한 필터링도 사용하지 않아요. 있는 그대로의 회전 값을 사용해요.
-settings-general-tracker_mechanics-filtering_type-smoothing = Smoothing
-settings-general-tracker_mechanics-filtering_type-smoothing-description = 움직임을 부드럽게 하지만 약간의 대기 시간이 추가돼요.
-settings-general-tracker_mechanics-filtering_type-prediction = Prediction
-settings-general-tracker_mechanics-filtering_type-prediction-description = 대기 시간이 줄어들고 움직임이 더 빨라지지만 지터가 증가할 수 있어요.
-settings-general-tracker_mechanics-amount = 강도
+settings-general-tracker_mechanics-filtering-type = 필터링 타입
+settings-general-tracker_mechanics-filtering-type-none = 필터링 없음
+settings-general-tracker_mechanics-filtering-type-none-description = 어떠한 필터링도 사용하지 않아요. 있는 그대로의 회전 값을 사용해요.
+settings-general-tracker_mechanics-filtering-type-smoothing = Smoothing
+settings-general-tracker_mechanics-filtering-type-smoothing-description = 움직임을 부드럽게 하지만 약간의 대기 시간이 추가돼요.
+settings-general-tracker_mechanics-filtering-type-prediction = Prediction
+settings-general-tracker_mechanics-filtering-type-prediction-description = 대기 시간이 줄어들고 움직임이 더 빨라지지만 지터가 증가할 수 있어요.
+settings-general-tracker_mechanics-filtering-amount = 강도
+settings-general-tracker_mechanics-drift_compensation = Drift compensation
+# This cares about multilines
+settings-general-tracker_mechanics-drift_compensation-description =
+    Compensates IMU yaw drift by applying an inverse rotation.
+    Change amount of compensation and up to how many resets are taken into account.
+settings-general-tracker_mechanics-drift_compensation-enabled-label = Drift compensation
+settings-general-tracker_mechanics-drift_compensation-amount-label = Compensation amount
+settings-general-tracker_mechanics-drift_compensation-max_resets-label = Use up to x last resets
 
 ## FK/Tracking settings
 settings-general-fk_settings = FK 설정
diff --git a/gui/public/i18n/pl/translation.ftl b/gui/public/i18n/pl/translation.ftl
index 81bb00f181..1d8e62c38c 100644
--- a/gui/public/i18n/pl/translation.ftl
+++ b/gui/public/i18n/pl/translation.ftl
@@ -128,11 +128,14 @@ tracker-settings-assignment_section-edit = Edytuj
 tracker-settings-mounting_section = Położenie Trackera
 tracker-settings-mounting_section-description = Gdzie jest Tracker zamontowany?
 tracker-settings-mounting_section-edit = Edytuj
+tracker-settings-drift_compensation_section = Allow drift compensation
+tracker-settings-drift_compensation_section-description = Should this tracker compensate for its drift when drift compensation is enabled?
+tracker-settings-drift_compensation_section-edit = Allow drift compensation
 # The .<name> means it's an attribute and it's related to the top key.
 # In this case that is the settings for the assignment section.
 tracker-settings-name_section = Nazwa Trackera
-tracker-settings-name_section-placeholder = Lewa noga Yexo
 tracker-settings-name_section-description = Daj mu słodką nazwę :)
+tracker-settings-name_section-placeholder = Lewa noga Yexo
 
 ## Tracker part card info
 tracker-part_card-no_name = Brak Nazwy
@@ -213,19 +216,27 @@ settings-general-steamvr-trackers-hands = Ręce
 
 ## Tracker mechanics
 settings-general-tracker_mechanics = Tracker mechanics
-settings-general-tracker_mechanics-subtitle = Filtrowanie
+settings-general-tracker_mechanics-filtering = Filtrowanie
 # This also cares about multilines
-settings-general-tracker_mechanics-description =
+settings-general-tracker_mechanics-filtering-description =
     Wybierz Filtry dla twoich trackerów.
     Przewidywanie przewiduje ruchy a Wygładzanie stara się wygładzić ruchy.
-settings-general-tracker_mechanics-filtering_type = Filtry
-settings-general-tracker_mechanics-filtering_type-none = Brak Filtrów
-settings-general-tracker_mechanics-filtering_type-none-description = Używa rotacji takimi jakimi są.
-settings-general-tracker_mechanics-filtering_type-smoothing = Wygładzanie
-settings-general-tracker_mechanics-filtering_type-smoothing-description = Wygładza ruchy lecz dodaje trochę opóźnienia.
-settings-general-tracker_mechanics-filtering_type-prediction = Przewidywanie
-settings-general-tracker_mechanics-filtering_type-prediction-description = Zmniejsza opóźnienie i robi ruchy trochę ostrzejszymi, ale może dodać trochę drgań.
-settings-general-tracker_mechanics-amount = Ilość
+settings-general-tracker_mechanics-filtering-type = Filtry
+settings-general-tracker_mechanics-filtering-type-none = Brak Filtrów
+settings-general-tracker_mechanics-filtering-type-none-description = Używa rotacji takimi jakimi są.
+settings-general-tracker_mechanics-filtering-type-smoothing = Wygładzanie
+settings-general-tracker_mechanics-filtering-type-smoothing-description = Wygładza ruchy lecz dodaje trochę opóźnienia.
+settings-general-tracker_mechanics-filtering-type-prediction = Przewidywanie
+settings-general-tracker_mechanics-filtering-type-prediction-description = Zmniejsza opóźnienie i robi ruchy trochę ostrzejszymi, ale może dodać trochę drgań.
+settings-general-tracker_mechanics-filtering-amount = Ilość
+settings-general-tracker_mechanics-drift_compensation = Drift compensation
+# This cares about multilines
+settings-general-tracker_mechanics-drift_compensation-description =
+    Compensates IMU yaw drift by applying an inverse rotation.
+    Change amount of compensation and up to how many resets are taken into account.
+settings-general-tracker_mechanics-drift_compensation-enabled-label = Drift compensation
+settings-general-tracker_mechanics-drift_compensation-amount-label = Compensation amount
+settings-general-tracker_mechanics-drift_compensation-max_resets-label = Use up to x last resets
 
 ## FK settings
 settings-general-fk_settings = Tracking settings
diff --git a/gui/public/i18n/pt-BR/translation.ftl b/gui/public/i18n/pt-BR/translation.ftl
index e8219ffa22..c4ef6645b4 100644
--- a/gui/public/i18n/pt-BR/translation.ftl
+++ b/gui/public/i18n/pt-BR/translation.ftl
@@ -128,11 +128,14 @@ tracker-settings-assignment_section-edit = Editar atribuição
 tracker-settings-mounting_section = Posicionamento
 tracker-settings-mounting_section-description = Aonde o tracker está posicionado?
 tracker-settings-mounting_section-edit = Editar posição
+tracker-settings-drift_compensation_section = Allow drift compensation
+tracker-settings-drift_compensation_section-description = Should this tracker compensate for its drift when drift compensation is enabled?
+tracker-settings-drift_compensation_section-edit = Allow drift compensation
 # The .<name> means it's an attribute and it's related to the top key.
 # In this case that is the settings for the assignment section.
 tracker-settings-name_section = Nome do tracker
-tracker-settings-name_section-placeholder = Coxa esquerda de NightyBeast
 tracker-settings-name_section-description = Dê um apelido fofo :)
+tracker-settings-name_section-placeholder = Coxa esquerda de NightyBeast
 
 ## Tracker part card info
 tracker-part_card-no_name = Sem nome
@@ -213,19 +216,27 @@ settings-general-steamvr-trackers-hands = Mãos
 
 ## Tracker mechanics
 settings-general-tracker_mechanics = Mecânicas do Tracker
-settings-general-tracker_mechanics-subtitle = Filtros
+settings-general-tracker_mechanics-filtering = Filtros
 # This also cares about multilines
-settings-general-tracker_mechanics-description =
+settings-general-tracker_mechanics-filtering-description =
     Escolha o tipo de filtro para seus trackers.
     Predição prediz movimentação enquanto suavização suaviza o movimento.
-settings-general-tracker_mechanics-filtering_type = Tipo de filtro
-settings-general-tracker_mechanics-filtering_type-none = Sem filtro
-settings-general-tracker_mechanics-filtering_type-none-description = Utiliza as rotações como registradas. Sem qualquer tipo de filtro.
-settings-general-tracker_mechanics-filtering_type-smoothing = Suavização
-settings-general-tracker_mechanics-filtering_type-smoothing-description = Suaviza o movimento porém introduz um pouco de latência.
-settings-general-tracker_mechanics-filtering_type-prediction = Predição
-settings-general-tracker_mechanics-filtering_type-prediction-description = Reduz latência e torna os movimentos mais responsivos, porém aumenta tremulação (Jitter).
-settings-general-tracker_mechanics-amount = Quantidade
+settings-general-tracker_mechanics-filtering-type = Tipo de filtro
+settings-general-tracker_mechanics-filtering-type-none = Sem filtro
+settings-general-tracker_mechanics-filtering-type-none-description = Utiliza as rotações como registradas. Sem qualquer tipo de filtro.
+settings-general-tracker_mechanics-filtering-type-smoothing = Suavização
+settings-general-tracker_mechanics-filtering-type-smoothing-description = Suaviza o movimento porém introduz um pouco de latência.
+settings-general-tracker_mechanics-filtering-type-prediction = Predição
+settings-general-tracker_mechanics-filtering-type-prediction-description = Reduz latência e torna os movimentos mais responsivos, porém aumenta tremulação (Jitter).
+settings-general-tracker_mechanics-filtering-amount = Quantidade
+settings-general-tracker_mechanics-drift_compensation = Drift compensation
+# This cares about multilines
+settings-general-tracker_mechanics-drift_compensation-description =
+    Compensates IMU yaw drift by applying an inverse rotation.
+    Change amount of compensation and up to how many resets are taken into account.
+settings-general-tracker_mechanics-drift_compensation-enabled-label = Drift compensation
+settings-general-tracker_mechanics-drift_compensation-amount-label = Compensation amount
+settings-general-tracker_mechanics-drift_compensation-max_resets-label = Use up to x last resets
 
 ## FK/Tracking settings
 settings-general-fk_settings = Opções de Tracker
diff --git a/gui/public/i18n/vi/translation.ftl b/gui/public/i18n/vi/translation.ftl
index f59a8907df..cfabfbfe64 100644
--- a/gui/public/i18n/vi/translation.ftl
+++ b/gui/public/i18n/vi/translation.ftl
@@ -128,11 +128,14 @@ tracker-settings-assignment_section-edit = Chỉnh lại giao bộ phận
 tracker-settings-mounting_section = Vị trí đặt bộ phận
 tracker-settings-mounting_section-description = Tracker đặt ở đâu?
 tracker-settings-mounting_section-edit = Chỉnh lại chỗ đặt
+tracker-settings-drift_compensation_section = Allow drift compensation
+tracker-settings-drift_compensation_section-description = Should this tracker compensate for its drift when drift compensation is enabled?
+tracker-settings-drift_compensation_section-edit = Allow drift compensation
 # The .<name> means it's an attribute and it's related to the top key.
 # In this case that is the settings for the assignment section.
 tracker-settings-name_section = Tên tracker
-tracker-settings-name_section-placeholder = Menaced's left leg
 tracker-settings-name_section-description = Hãy cho một tên đẹp :)
+tracker-settings-name_section-placeholder = Menaced's left leg
 
 ## Tracker part card info
 tracker-part_card-no_name = Không tên
@@ -213,19 +216,27 @@ settings-general-steamvr-trackers-hands = Hands
 
 ## Tracker mechanics
 settings-general-tracker_mechanics = Cơ khí tracker
-settings-general-tracker_mechanics-subtitle = Lọc rung
+settings-general-tracker_mechanics-filtering = Lọc rung
 # This also cares about multilines
-settings-general-tracker_mechanics-description =
+settings-general-tracker_mechanics-filtering-description =
     Chọn kiểu lọc rung cho tracker.
     Dự đoán đoán cử động trong khi lọc rung cử động.
-settings-general-tracker_mechanics-filtering_type = Kiểu lọc
-settings-general-tracker_mechanics-filtering_type-none = Không lọc
-settings-general-tracker_mechanics-filtering_type-none-description = Để đo chiều chuyển y nguyên. Không sử dụlọclọc.
-settings-general-tracker_mechanics-filtering_type-smoothing = Làm mượt
-settings-general-tracker_mechanics-filtering_type-smoothing-description = Lọc cử động mượt nhưng tạo ít chậm rễ.
-settings-general-tracker_mechanics-filtering_type-prediction = Dự đoán
-settings-general-tracker_mechanics-filtering_type-prediction-description = Giảm chậm trê và để cử động gọn hơn, nhưng có thể tăng độ rung.
-settings-general-tracker_mechanics-amount = Số luọng
+settings-general-tracker_mechanics-filtering-type = Kiểu lọc
+settings-general-tracker_mechanics-filtering-type-none = Không lọc
+settings-general-tracker_mechanics-filtering-type-none-description = Để đo chiều chuyển y nguyên. Không sử dụlọclọc.
+settings-general-tracker_mechanics-filtering-type-smoothing = Làm mượt
+settings-general-tracker_mechanics-filtering-type-smoothing-description = Lọc cử động mượt nhưng tạo ít chậm rễ.
+settings-general-tracker_mechanics-filtering-type-prediction = Dự đoán
+settings-general-tracker_mechanics-filtering-type-prediction-description = Giảm chậm trê và để cử động gọn hơn, nhưng có thể tăng độ rung.
+settings-general-tracker_mechanics-filtering-amount = Số luọng
+settings-general-tracker_mechanics-drift_compensation = Drift compensation
+# This cares about multilines
+settings-general-tracker_mechanics-drift_compensation-description =
+    Compensates IMU yaw drift by applying an inverse rotation.
+    Change amount of compensation and up to how many resets are taken into account.
+settings-general-tracker_mechanics-drift_compensation-enabled-label = Drift compensation
+settings-general-tracker_mechanics-drift_compensation-amount-label = Compensation amount
+settings-general-tracker_mechanics-drift_compensation-max_resets-label = Use up to x last resets
 
 ## FK/Tracking settings
 settings-general-fk_settings = Cài đặt FK
diff --git a/gui/public/i18n/zh-Hans/translation.ftl b/gui/public/i18n/zh-Hans/translation.ftl
index 9cf9662057..d551951604 100644
--- a/gui/public/i18n/zh-Hans/translation.ftl
+++ b/gui/public/i18n/zh-Hans/translation.ftl
@@ -128,11 +128,14 @@ tracker-settings-assignment_section-edit = 编辑分配
 tracker-settings-mounting_section = 佩戴位置
 tracker-settings-mounting_section-description = 该追踪器被佩戴在哪里？
 tracker-settings-mounting_section-edit = 编辑佩戴
+tracker-settings-drift_compensation_section = Allow drift compensation
+tracker-settings-drift_compensation_section-description = Should this tracker compensate for its drift when drift compensation is enabled?
+tracker-settings-drift_compensation_section-edit = Allow drift compensation
 # The .<name> means it's an attribute and it's related to the top key.
 # In this case that is the settings for the assignment section.
 tracker-settings-name_section = 追踪器名称
-tracker-settings-name_section-placeholder = CC 封印着漆黑之力的漆黑左臂
 tracker-settings-name_section-description = 给它起一个可爱的名字吧=w=~
+tracker-settings-name_section-placeholder = CC 封印着漆黑之力的漆黑左臂
 
 ## Tracker part card info
 tracker-part_card-no_name = 未命名
@@ -213,19 +216,27 @@ settings-general-steamvr-trackers-hands = 手部
 
 ## Tracker mechanics
 settings-general-tracker_mechanics = 追踪器设置
-settings-general-tracker_mechanics-subtitle = 滤波
+settings-general-tracker_mechanics-filtering = 滤波
 # This also cares about multilines
-settings-general-tracker_mechanics-description =
+settings-general-tracker_mechanics-filtering-description =
     选择追踪器的滤波类型。
     预测型将会对你的运动加以预测，而平滑型将会让你的运动更加平滑。
-settings-general-tracker_mechanics-filtering_type = 滤波类型
-settings-general-tracker_mechanics-filtering_type-none = 无滤波
-settings-general-tracker_mechanics-filtering_type-none-description = 使用原始数据，不会进行任何过滤。
-settings-general-tracker_mechanics-filtering_type-smoothing = 平滑型
-settings-general-tracker_mechanics-filtering_type-smoothing-description = 让运动更加平滑，但会增加一些延迟。
-settings-general-tracker_mechanics-filtering_type-prediction = 预测型
-settings-general-tracker_mechanics-filtering_type-prediction-description = 减少延迟并使移动更敏捷，但可能会增加一些抖动。
-settings-general-tracker_mechanics-amount = 滤波强度
+settings-general-tracker_mechanics-filtering-type = 滤波类型
+settings-general-tracker_mechanics-filtering-type-none = 无滤波
+settings-general-tracker_mechanics-filtering-type-none-description = 使用原始数据，不会进行任何过滤。
+settings-general-tracker_mechanics-filtering-type-smoothing = 平滑型
+settings-general-tracker_mechanics-filtering-type-smoothing-description = 让运动更加平滑，但会增加一些延迟。
+settings-general-tracker_mechanics-filtering-type-prediction = 预测型
+settings-general-tracker_mechanics-filtering-type-prediction-description = 减少延迟并使移动更敏捷，但可能会增加一些抖动。
+settings-general-tracker_mechanics-filtering-amount = 滤波强度
+settings-general-tracker_mechanics-drift_compensation = Drift compensation
+# This cares about multilines
+settings-general-tracker_mechanics-drift_compensation-description =
+    Compensates IMU yaw drift by applying an inverse rotation.
+    Change amount of compensation and up to how many resets are taken into account.
+settings-general-tracker_mechanics-drift_compensation-enabled-label = Drift compensation
+settings-general-tracker_mechanics-drift_compensation-amount-label = Compensation amount
+settings-general-tracker_mechanics-drift_compensation-max_resets-label = Use up to x last resets
 
 ## FK/Tracking settings
 settings-general-fk_settings = FK 设置
diff --git a/gui/src/components/settings/pages/GeneralSettings.tsx b/gui/src/components/settings/pages/GeneralSettings.tsx
index cd78a25271..2e144f7531 100644
--- a/gui/src/components/settings/pages/GeneralSettings.tsx
+++ b/gui/src/components/settings/pages/GeneralSettings.tsx
@@ -13,6 +13,7 @@ import {
   SettingsResponseT,
   SteamVRTrackersSettingT,
   TapDetectionSettingsT,
+  DriftCompensationSettingsT,
 } from 'solarxr-protocol';
 import { useConfig } from '../../../hooks/config';
 import { useWebsocketAPI } from '../../../hooks/websocket-api';
@@ -40,6 +41,11 @@ interface SettingsForm {
     type: number;
     amount: number;
   };
+  driftCompensation: {
+    enabled: boolean;
+    amount: number;
+    maxResets: number;
+  };
   toggles: {
     extendedSpine: boolean;
     extendedPelvis: boolean;
@@ -88,6 +94,11 @@ const defaultValues = {
     viveEmulation: false,
   },
   filtering: { amount: 0.1, type: FilteringType.NONE },
+  driftCompensation: {
+    enabled: false,
+    amount: 0.1,
+    maxResets: 1,
+  },
   tapDetection: {
     tapMountingResetEnabled: false,
     tapQuickResetEnabled: false,
@@ -165,6 +176,12 @@ export function GeneralSettings() {
     filtering.amount = values.filtering.amount;
     settings.filtering = filtering;
 
+    const driftCompensation = new DriftCompensationSettingsT();
+    driftCompensation.enabled = values.driftCompensation.enabled;
+    driftCompensation.amount = values.driftCompensation.amount;
+    driftCompensation.maxResets = values.driftCompensation.maxResets;
+    settings.driftCompensation = driftCompensation;
+
     sendRPCPacket(RpcMessage.ChangeSettingsRequest, settings);
 
     setConfig({
@@ -194,6 +211,10 @@ export function GeneralSettings() {
       formData.filtering = settings.filtering;
     }
 
+    if (settings.driftCompensation) {
+      formData.driftCompensation = settings.driftCompensation;
+    }
+
     if (settings.steamVrTrackers) {
       formData.trackers = settings.steamVrTrackers;
     }
@@ -340,12 +361,14 @@ export function GeneralSettings() {
             {l10n.getString('settings-general-tracker_mechanics')}
           </Typography>
           <Typography bold>
-            {l10n.getString('settings-general-tracker_mechanics-subtitle')}
+            {l10n.getString('settings-general-tracker_mechanics-filtering')}
           </Typography>
           <div className="flex flex-col pt-2 pb-4">
             <>
               {l10n
-                .getString('settings-general-tracker_mechanics-description')
+                .getString(
+                  'settings-general-tracker_mechanics-filtering-description'
+                )
                 .split('\n')
                 .map((line, i) => (
                   <Typography color="secondary" key={i}>
@@ -356,7 +379,7 @@ export function GeneralSettings() {
           </div>
           <Typography>
             {l10n.getString(
-              'settings-general-tracker_mechanics-filtering_type'
+              'settings-general-tracker_mechanics-filtering-type'
             )}
           </Typography>
           <div className="flex md:flex-row flex-col gap-3 pt-2">
@@ -364,10 +387,10 @@ export function GeneralSettings() {
               control={control}
               name="filtering.type"
               label={l10n.getString(
-                'settings-general-tracker_mechanics-filtering_type-none'
+                'settings-general-tracker_mechanics-filtering-type-none'
               )}
               desciption={l10n.getString(
-                'settings-general-tracker_mechanics-filtering_type-none-description'
+                'settings-general-tracker_mechanics-filtering-type-none-description'
               )}
               value={FilteringType.NONE}
             ></Radio>
@@ -375,10 +398,10 @@ export function GeneralSettings() {
               control={control}
               name="filtering.type"
               label={l10n.getString(
-                'settings-general-tracker_mechanics-filtering_type-smoothing'
+                'settings-general-tracker_mechanics-filtering-type-smoothing'
               )}
               desciption={l10n.getString(
-                'settings-general-tracker_mechanics-filtering_type-smoothing-description'
+                'settings-general-tracker_mechanics-filtering-type-smoothing-description'
               )}
               value={FilteringType.SMOOTHING}
             ></Radio>
@@ -386,10 +409,10 @@ export function GeneralSettings() {
               control={control}
               name="filtering.type"
               label={l10n.getString(
-                'settings-general-tracker_mechanics-filtering_type-prediction'
+                'settings-general-tracker_mechanics-filtering-type-prediction'
               )}
               desciption={l10n.getString(
-                'settings-general-tracker_mechanics-filtering_type-prediction-description'
+                'settings-general-tracker_mechanics-filtering-type-prediction-description'
               )}
               value={FilteringType.PREDICTION}
             ></Radio>
@@ -399,7 +422,49 @@ export function GeneralSettings() {
               control={control}
               name="filtering.amount"
               label={l10n.getString(
-                'settings-general-tracker_mechanics-amount'
+                'settings-general-tracker_mechanics-filtering-amount'
+              )}
+              valueLabelFormat={(value) => `${Math.round(value * 100)} %`}
+              min={0.1}
+              max={1.0}
+              step={0.1}
+            />
+          </div>
+          <div className="flex flex-col pt-4 pb-4"></div>
+          <Typography bold>
+            {l10n.getString(
+              'settings-general-tracker_mechanics-drift_compensation'
+            )}
+          </Typography>
+          <div className="flex flex-col pt-2 pb-4">
+            <Typography color="secondary">
+              {l10n
+                .getString(
+                  'settings-general-tracker_mechanics-drift_compensation-description'
+                )
+                .split('\n')
+                .map((line, i) => (
+                  <Typography color="secondary" key={i}>
+                    {line}
+                  </Typography>
+                ))}
+            </Typography>
+          </div>
+          <CheckBox
+            variant="toggle"
+            outlined
+            control={control}
+            name="driftCompensation.enabled"
+            label={l10n.getString(
+              'settings-general-tracker_mechanics-drift_compensation-enabled-label'
+            )}
+          />
+          <div className="flex gap-5 pt-5 md:flex-row flex-col">
+            <NumberSelector
+              control={control}
+              name="driftCompensation.amount"
+              label={l10n.getString(
+                'settings-general-tracker_mechanics-drift_compensation-amount-label'
               )}
               valueLabelFormat={(value) => `${Math.round(value * 100)} %`}
               min={0.1}
@@ -407,6 +472,18 @@ export function GeneralSettings() {
               step={0.1}
             />
           </div>
+          <div className="flex gap-5 pt-5 md:flex-row flex-col">
+            <NumberSelector
+              control={control}
+              name="driftCompensation.maxResets"
+              label={l10n.getString(
+                'settings-general-tracker_mechanics-drift_compensation-max_resets-label'
+              )}
+              min={1}
+              max={25}
+              step={1}
+            />
+          </div>
         </>
       </SettingsPageLayout>
       <SettingsPageLayout icon={<WrenchIcon></WrenchIcon>} id="fksettings">
@@ -457,7 +534,6 @@ export function GeneralSettings() {
               step={0.1}
             />
           </div>
-
           <Typography bold>
             {l10n.getString('settings-general-fk_settings-arm_fk')}
           </Typography>
diff --git a/gui/src/components/tracker/TrackerSettings.tsx b/gui/src/components/tracker/TrackerSettings.tsx
index 5ce24e02ab..445c70a46c 100644
--- a/gui/src/components/tracker/TrackerSettings.tsx
+++ b/gui/src/components/tracker/TrackerSettings.tsx
@@ -17,6 +17,7 @@ import { Typography } from '../commons/Typography';
 import { MountingSelectionMenu } from '../onboarding/pages/mounting/MountingSelectionMenu';
 import { SingleTrackerBodyAssignmentMenu } from './SingleTrackerBodyAssignmentMenu';
 import { TrackerCard } from './TrackerCard';
+import { CheckBox } from '../commons/Checkbox';
 import { useLocalization } from '@fluent/react';
 
 export const rotationToQuatMap = {
@@ -44,13 +45,17 @@ export function TrackerSettingsPage() {
     trackernum: string;
     deviceid: string;
   }>();
-  const { register, watch, reset, handleSubmit } = useForm<{
+  const { control, register, watch, reset, handleSubmit } = useForm<{
     trackerName: string | null;
+    allowDriftCompensation: boolean | null;
   }>({
-    defaultValues: { trackerName: null },
+    defaultValues: {
+      trackerName: null,
+      allowDriftCompensation: null,
+    },
     reValidateMode: 'onSubmit',
   });
-  const { trackerName } = watch();
+  const { trackerName, allowDriftCompensation } = watch();
 
   const tracker = useTrackerFromId(trackernum, deviceid);
 
@@ -69,6 +74,8 @@ export function TrackerSettingsPage() {
     );
     assignreq.bodyPosition = tracker?.tracker.info?.bodyPart || BodyPart.NONE;
     assignreq.trackerId = tracker?.tracker.trackerId;
+    if (allowDriftCompensation != null)
+      assignreq.allowDriftCompensation = allowDriftCompensation;
     sendRPCPacket(RpcMessage.AssignTrackerRequest, assignreq);
     setSelectRotation(false);
   };
@@ -79,6 +86,8 @@ export function TrackerSettingsPage() {
     const assignreq = new AssignTrackerRequestT();
     assignreq.bodyPosition = role;
     assignreq.trackerId = tracker?.tracker.trackerId;
+    if (allowDriftCompensation != null)
+      assignreq.allowDriftCompensation = allowDriftCompensation;
     sendRPCPacket(RpcMessage.AssignTrackerRequest, assignreq);
     setSelectBodypart(false);
   };
@@ -89,28 +98,42 @@ export function TrackerSettingsPage() {
       : rotationToQuatMap.FRONT;
   }, [tracker?.tracker.info?.mountingOrientation]);
 
-  const updateTrackerName = () => {
+  const updateTrackerSettings = () => {
     if (!tracker) return;
-    if (trackerName == tracker.tracker.info?.customName) return;
+    if (allowDriftCompensation == null) return;
+    if (
+      trackerName == tracker.tracker.info?.customName &&
+      allowDriftCompensation == tracker.tracker.info?.allowDriftCompensation
+    )
+      return;
     const assignreq = new AssignTrackerRequestT();
     assignreq.bodyPosition = tracker?.tracker.info?.bodyPart || BodyPart.NONE;
+    assignreq.mountingOrientation = assignreq.mountingOrientation =
+      QuaternionToQuatT(
+        Quaternion.fromEuler(0, 0, FixEuler(+currRotation) * DEG_TO_RAD, 'XZY')
+      );
     assignreq.displayName = trackerName;
     assignreq.trackerId = tracker?.tracker.trackerId;
+    assignreq.allowDriftCompensation = allowDriftCompensation;
     sendRPCPacket(RpcMessage.AssignTrackerRequest, assignreq);
   };
 
   const onSettingsSubmit = () => {
-    updateTrackerName();
+    updateTrackerSettings();
   };
 
   useDebouncedEffect(
     () => {
-      updateTrackerName();
+      updateTrackerSettings();
     },
     [trackerName],
     1000
   );
 
+  useEffect(() => {
+    updateTrackerSettings();
+  }, [allowDriftCompensation]);
+
   useEffect(() => {
     if (tracker && !firstLoad) setFirstLoad(true);
   }, [tracker, firstLoad]);
@@ -119,6 +142,7 @@ export function TrackerSettingsPage() {
     if (firstLoad) {
       reset({
         trackerName: tracker?.tracker.info?.customName as string | null,
+        allowDriftCompensation: tracker?.tracker.info?.allowDriftCompensation,
       });
     }
   }, [firstLoad]);
@@ -259,6 +283,33 @@ export function TrackerSettingsPage() {
               </div>
             </div>
           </div>
+          {tracker?.tracker.info?.isImu && (
+            <>
+              <div className="flex flex-col gap-2 w-full mt-3">
+                <Typography variant="section-title">
+                  {l10n.getString(
+                    'tracker-settings-drift_compensation_section'
+                  )}
+                </Typography>
+                <Typography color="secondary">
+                  {l10n.getString(
+                    'tracker-settings-drift_compensation_section-description'
+                  )}
+                </Typography>
+                <div className="flex">
+                  <CheckBox
+                    variant="toggle"
+                    outlined
+                    name="allowDriftCompensation"
+                    control={control}
+                    label={l10n.getString(
+                      'tracker-settings-drift_compensation_section-edit'
+                    )}
+                  />
+                </div>
+              </div>
+            </>
+          )}
           <div className="flex flex-col gap-2 w-full mt-3">
             <Typography variant="section-title">
               {l10n.getString('tracker-settings-name_section')}
diff --git a/server/src/main/java/com/jme3/math/Quaternion.java b/server/src/main/java/com/jme3/math/Quaternion.java
index a5a17471d7..f2ce6b160a 100644
--- a/server/src/main/java/com/jme3/math/Quaternion.java
+++ b/server/src/main/java/com/jme3/math/Quaternion.java
@@ -36,6 +36,7 @@
 import java.io.IOException;
 import java.io.ObjectInput;
 import java.io.ObjectOutput;
+import java.util.AbstractList;
 import java.util.logging.Logger;
 
 
@@ -351,7 +352,7 @@ public float getPitch() {
 
 	/**
 	 * Returns Euler rotation angle around y axis (yaw).
-	 * 
+	 *
 	 * @return
 	 * @see #toAngles(float[])
 	 */
@@ -923,6 +924,74 @@ public void nlerp(Quaternion q2, float blend) {
 		normalizeLocal();
 	}
 
+	/**
+	 * Sets the values of this quaternion to the unit average of the given
+	 * Quaternions and return itself
+	 *
+	 * @param qn list of all the Quaternions to average
+	 * @return a new Quaternion resulting from the average of the given
+	 * Quaternions
+	 */
+	public Quaternion fromAveragedQuaternions(AbstractList<Quaternion> qn) {
+		if (qn.size() == 0) {
+			throw new IllegalArgumentException("qn's length can't be 0");
+		}
+
+		float sumX = 0f;
+		float sumY = 0f;
+		float sumZ = 0f;
+		float sumW = 0f;
+		for (Quaternion q : qn) {
+			sumX += q.x;
+			sumY += q.y;
+			sumZ += q.z;
+			sumW += q.w;
+		}
+
+		x = sumX / qn.size();
+		y = sumY / qn.size();
+		z = sumZ / qn.size();
+		w = sumW / qn.size();
+
+		return this;
+	}
+
+	/**
+	 * Sets the values of this quaternion to the unit average of the given
+	 * Quaternions and return itself
+	 *
+	 * @param qn list of all the Quaternions to average
+	 * @param tn 0-1, averaging weight for Quaternions (sum = 1)
+	 * @return a new Quaternion resulting from the weighted average of the given
+	 * Quaternions
+	 */
+	public Quaternion fromAveragedQuaternions(AbstractList<Quaternion> qn, AbstractList<Float> tn) {
+		if (qn.size() == 0) {
+			throw new IllegalArgumentException("qn's length can't be 0");
+		}
+		if (qn.size() != tn.size()) {
+			throw new IllegalArgumentException("qn and tn must have the same length");
+		}
+
+		float averagedX = 0f;
+		float averagedY = 0f;
+		float averagedZ = 0f;
+		float averagedW = 0f;
+		for (int i = 0; i < qn.size(); i++) {
+			averagedX += qn.get(i).x * tn.get(i);
+			averagedY += qn.get(i).y * tn.get(i);
+			averagedZ += qn.get(i).z * tn.get(i);
+			averagedW += qn.get(i).w * tn.get(i);
+		}
+
+		x = averagedX;
+		y = averagedY;
+		z = averagedZ;
+		w = averagedW;
+
+		return this;
+	}
+
 	/**
 	 * <code>add</code> adds the values of this quaternion to those of the
 	 * parameter quaternion. The result is returned as a new quaternion.
diff --git a/server/src/main/java/dev/slimevr/config/DriftCompensationConfig.java b/server/src/main/java/dev/slimevr/config/DriftCompensationConfig.java
new file mode 100644
index 0000000000..ff350ccfd3
--- /dev/null
+++ b/server/src/main/java/dev/slimevr/config/DriftCompensationConfig.java
@@ -0,0 +1,60 @@
+package dev.slimevr.config;
+
+import dev.slimevr.Main;
+import dev.slimevr.vr.trackers.IMUTracker;
+import dev.slimevr.vr.trackers.Tracker;
+
+
+public class DriftCompensationConfig {
+
+	// Is drift compensation enabled
+	private boolean enabled = false;
+
+	// Amount of drift compensation applied
+	private float amount = 0.8f;
+
+	// Max resets for the calculated average drift
+	private int maxResets = 6;
+
+	public DriftCompensationConfig() {
+	}
+
+	public void updateTrackersDriftCompensation() {
+		for (Tracker t : Main.getVrServer().getAllTrackers()) {
+			Tracker tracker = t.get();
+			if (tracker instanceof IMUTracker imuTracker) {
+				imuTracker
+					.setDriftCompensationSettings(
+						getEnabled(),
+						getAmount(),
+						getMaxResets()
+					);
+			}
+		}
+	}
+
+
+	public boolean getEnabled() {
+		return enabled;
+	}
+
+	public void setEnabled(boolean enabled) {
+		this.enabled = enabled;
+	}
+
+	public float getAmount() {
+		return amount;
+	}
+
+	public void setAmount(float amount) {
+		this.amount = amount;
+	}
+
+	public int getMaxResets() {
+		return maxResets;
+	}
+
+	public void setMaxResets(int maxResets) {
+		this.maxResets = maxResets;
+	}
+}
diff --git a/server/src/main/java/dev/slimevr/config/TrackerConfig.java b/server/src/main/java/dev/slimevr/config/TrackerConfig.java
index 38a9646882..97883eb417 100644
--- a/server/src/main/java/dev/slimevr/config/TrackerConfig.java
+++ b/server/src/main/java/dev/slimevr/config/TrackerConfig.java
@@ -4,6 +4,7 @@
 import com.fasterxml.jackson.databind.node.JsonNodeFactory;
 import com.fasterxml.jackson.databind.node.ObjectNode;
 import com.jme3.math.Quaternion;
+import dev.slimevr.vr.trackers.IMUTracker;
 import dev.slimevr.vr.trackers.Tracker;
 
 
@@ -12,10 +13,10 @@ public class TrackerConfig {
 	private String customName;
 	private String designation;
 	private boolean hide;
-
 	private Quaternion adjustment;
-
 	private Quaternion mountingOrientation;
+	private Boolean allowDriftCompensation;
+
 
 	public TrackerConfig() {
 	}
@@ -24,6 +25,7 @@ public TrackerConfig(Tracker tracker) {
 		this.designation = tracker.getBodyPosition()
 			!= null ? tracker.getBodyPosition().designation : null;
 		this.customName = tracker.getCustomName();
+		allowDriftCompensation = tracker instanceof IMUTracker;
 	}
 
 	static JsonNode toV2(JsonNode v1, JsonNodeFactory factory) {
@@ -80,4 +82,12 @@ public Quaternion getMountingOrientation() {
 	public void setMountingOrientation(Quaternion mountingOrientation) {
 		this.mountingOrientation = mountingOrientation;
 	}
+
+	public Boolean getAllowDriftCompensation() {
+		return allowDriftCompensation;
+	}
+
+	public void setAllowDriftCompensation(Boolean allowDriftCompensation) {
+		this.allowDriftCompensation = allowDriftCompensation;
+	}
 }
diff --git a/server/src/main/java/dev/slimevr/config/VRConfig.java b/server/src/main/java/dev/slimevr/config/VRConfig.java
index ace2b03fc5..69822ac008 100644
--- a/server/src/main/java/dev/slimevr/config/VRConfig.java
+++ b/server/src/main/java/dev/slimevr/config/VRConfig.java
@@ -22,6 +22,8 @@ public class VRConfig {
 
 	private final FiltersConfig filters = new FiltersConfig();
 
+	private final DriftCompensationConfig driftCompensation = new DriftCompensationConfig();
+
 	private final OSCConfig oscRouter = new OSCConfig();
 
 	private final OSCConfig vrcOSC = new OSCConfig();
@@ -81,6 +83,10 @@ public FiltersConfig getFilters() {
 		return filters;
 	}
 
+	public DriftCompensationConfig getDriftCompensation() {
+		return driftCompensation;
+	}
+
 	public OSCConfig getOscRouter() {
 		return oscRouter;
 	}
diff --git a/server/src/main/java/dev/slimevr/protocol/datafeed/DataFeedBuilder.java b/server/src/main/java/dev/slimevr/protocol/datafeed/DataFeedBuilder.java
index b37ed1cde4..a08a6a657f 100644
--- a/server/src/main/java/dev/slimevr/protocol/datafeed/DataFeedBuilder.java
+++ b/server/src/main/java/dev/slimevr/protocol/datafeed/DataFeedBuilder.java
@@ -90,7 +90,7 @@ public static int createTrackerInfos(FlatBufferBuilder fbb, boolean infoMask, Tr
 		if (tracker.getBodyPosition() != null)
 			TrackerInfo.addBodyPart(fbb, tracker.getBodyPosition().bodyPart);
 		TrackerInfo.addEditable(fbb, tracker.userEditable());
-		TrackerInfo.addComputed(fbb, tracker.isComputed());
+		TrackerInfo.addIsComputed(fbb, tracker.isComputed());
 		TrackerInfo.addDisplayName(fbb, displayNameOffset);
 		TrackerInfo.addCustomName(fbb, customNameOffset);
 
@@ -98,6 +98,8 @@ public static int createTrackerInfos(FlatBufferBuilder fbb, boolean infoMask, Tr
 		// TODO need support: TrackerInfo.addPollRate(fbb, tracker.);
 
 		if (tracker instanceof IMUTracker imuTracker) {
+			TrackerInfo.addIsImu(fbb, true);
+
 			if (imuTracker.getMountingOrientation() != null) {
 				Quaternion quaternion = imuTracker.getMountingOrientation();
 				TrackerInfo
@@ -113,7 +115,12 @@ public static int createTrackerInfos(FlatBufferBuilder fbb, boolean infoMask, Tr
 							)
 					);
 			}
+
+			TrackerInfo.addAllowDriftCompensation(fbb, imuTracker.getAllowDriftCompensation());
+		} else {
+			TrackerInfo.addIsImu(fbb, false);
 		}
+
 		return TrackerInfo.endTrackerInfo(fbb);
 	}
 
diff --git a/server/src/main/java/dev/slimevr/protocol/rpc/RPCHandler.java b/server/src/main/java/dev/slimevr/protocol/rpc/RPCHandler.java
index 7ada2b664d..9acfa966a3 100644
--- a/server/src/main/java/dev/slimevr/protocol/rpc/RPCHandler.java
+++ b/server/src/main/java/dev/slimevr/protocol/rpc/RPCHandler.java
@@ -211,6 +211,10 @@ public void onAssignTrackerRequest(GenericConnection conn, RpcMessageHeader mess
 			}
 		}
 
+		if (tracker instanceof IMUTracker imu) {
+			imu.setAllowDriftCompensation(req.allowDriftCompensation());
+		}
+
 		this.api.server.trackerUpdated(tracker);
 	}
 
diff --git a/server/src/main/java/dev/slimevr/protocol/rpc/settings/RPCSettingsBuilder.java b/server/src/main/java/dev/slimevr/protocol/rpc/settings/RPCSettingsBuilder.java
index 76ca89c5b8..874cb31303 100644
--- a/server/src/main/java/dev/slimevr/protocol/rpc/settings/RPCSettingsBuilder.java
+++ b/server/src/main/java/dev/slimevr/protocol/rpc/settings/RPCSettingsBuilder.java
@@ -1,10 +1,7 @@
 package dev.slimevr.protocol.rpc.settings;
 
 import com.google.flatbuffers.FlatBufferBuilder;
-import dev.slimevr.config.FiltersConfig;
-import dev.slimevr.config.LegTweaksConfig;
-import dev.slimevr.config.OSCConfig;
-import dev.slimevr.config.TapDetectionConfig;
+import dev.slimevr.config.*;
 import dev.slimevr.filtering.TrackerFilters;
 import dev.slimevr.platform.SteamVRBridge;
 import dev.slimevr.vr.processor.skeleton.SkeletonConfig;
@@ -89,6 +86,19 @@ public static int createFilterSettings(
 			);
 	}
 
+	public static int createDriftCompensationSettings(
+		FlatBufferBuilder fbb,
+		DriftCompensationConfig driftCompensationConfig
+	) {
+		return DriftCompensationSettings
+			.createDriftCompensationSettings(
+				fbb,
+				driftCompensationConfig.getEnabled(),
+				driftCompensationConfig.getAmount(),
+				driftCompensationConfig.getMaxResets()
+			);
+	}
+
 	public static int createTapDetectionSettings(
 		FlatBufferBuilder fbb,
 		TapDetectionConfig tapDetectionConfig
diff --git a/server/src/main/java/dev/slimevr/protocol/rpc/settings/RPCSettingsHandler.java b/server/src/main/java/dev/slimevr/protocol/rpc/settings/RPCSettingsHandler.java
index 5002b16202..b2b4eac145 100644
--- a/server/src/main/java/dev/slimevr/protocol/rpc/settings/RPCSettingsHandler.java
+++ b/server/src/main/java/dev/slimevr/protocol/rpc/settings/RPCSettingsHandler.java
@@ -1,6 +1,7 @@
 package dev.slimevr.protocol.rpc.settings;
 
 import com.google.flatbuffers.FlatBufferBuilder;
+import dev.slimevr.config.DriftCompensationConfig;
 import dev.slimevr.config.FiltersConfig;
 import dev.slimevr.config.OSCConfig;
 import dev.slimevr.config.TapDetectionConfig;
@@ -49,6 +50,11 @@ public void onSettingsRequest(GenericConnection conn, RpcMessageHeader messageHe
 						fbb,
 						this.api.server.getConfigManager().getVrConfig().getFilters()
 					),
+				RPCSettingsBuilder
+					.createDriftCompensationSettings(
+						fbb,
+						this.api.server.getConfigManager().getVrConfig().getDriftCompensation()
+					),
 				RPCSettingsBuilder
 					.createOSCRouterSettings(
 						fbb,
@@ -113,6 +119,17 @@ public void onChangeSettingsRequest(GenericConnection conn, RpcMessageHeader mes
 			}
 		}
 
+		if (req.driftCompensation() != null) {
+			DriftCompensationConfig driftCompensationConfig = this.api.server
+				.getConfigManager()
+				.getVrConfig()
+				.getDriftCompensation();
+			driftCompensationConfig.setEnabled(req.driftCompensation().enabled());
+			driftCompensationConfig.setAmount(req.driftCompensation().amount());
+			driftCompensationConfig.setMaxResets(req.driftCompensation().maxResets());
+			driftCompensationConfig.updateTrackersDriftCompensation();
+		}
+
 		if (req.vrcOsc() != null) {
 			OSCConfig vrcOSCConfig = this.api.server
 				.getConfigManager()
diff --git a/server/src/main/java/dev/slimevr/vr/trackers/IMUTracker.java b/server/src/main/java/dev/slimevr/vr/trackers/IMUTracker.java
index 223f381e6a..02593ef1e2 100644
--- a/server/src/main/java/dev/slimevr/vr/trackers/IMUTracker.java
+++ b/server/src/main/java/dev/slimevr/vr/trackers/IMUTracker.java
@@ -5,12 +5,14 @@
 import com.jme3.math.Vector3f;
 import dev.slimevr.VRServer;
 import dev.slimevr.config.TrackerConfig;
+import dev.slimevr.filtering.CircularArrayList;
 import dev.slimevr.filtering.QuaternionMovingAverage;
 import dev.slimevr.filtering.TrackerFilters;
 import dev.slimevr.vr.Device;
 import dev.slimevr.vr.trackers.udp.TrackersUDPServer;
 import dev.slimevr.vr.trackers.udp.UDPDevice;
 import io.eiren.util.BufferedTimer;
+import io.eiren.util.collections.FastList;
 
 import java.util.Optional;
 
@@ -57,6 +59,18 @@ public class IMUTracker
 	protected boolean magnetometerCalibrated = false;
 	protected BufferedTimer timer = new BufferedTimer(1f);
 	protected QuaternionMovingAverage movingAverage;
+	protected boolean allowDriftCompensation = true;
+	protected boolean compensateDrift = false;
+	protected float driftAmount;
+	protected static long DRIFT_COOLDOWN_MS = 30000;
+	protected final Quaternion averagedDriftQuat = new Quaternion();
+	private final FastList<Float> driftWeights = new FastList<>();
+	private final static Quaternion rotationSinceReset = new Quaternion();
+	private CircularArrayList<Quaternion> driftQuats;
+	private CircularArrayList<Long> driftTimes;
+	private long totalDriftTime;
+	private long driftSince;
+	private long timeAtLastReset;
 
 	public IMUTracker(
 		UDPDevice device,
@@ -80,6 +94,11 @@ public IMUTracker(
 				vrserver.getConfigManager().getVrConfig().getFilters().enumGetType(),
 				vrserver.getConfigManager().getVrConfig().getFilters().getAmount()
 			);
+			setDriftCompensationSettings(
+				vrserver.getConfigManager().getVrConfig().getDriftCompensation().getEnabled(),
+				vrserver.getConfigManager().getVrConfig().getDriftCompensation().getAmount(),
+				vrserver.getConfigManager().getVrConfig().getDriftCompensation().getMaxResets()
+			);
 		}
 	}
 
@@ -91,6 +110,7 @@ public void writeConfig(TrackerConfig config) {
 				mounting != null ? mounting : new Quaternion().fromAngles(0, FastMath.PI, 0)
 			);
 		config.setCustomName(customName);
+		config.setAllowDriftCompensation(allowDriftCompensation);
 	}
 
 	@Override
@@ -113,6 +133,18 @@ public void readConfig(TrackerConfig config) {
 			} else {
 				bodyPosition = trackerPosition.get();
 			}
+			if (config.getAllowDriftCompensation() == null) {
+				// If value didn't exist, default to true and save
+				allowDriftCompensation = true;
+				vrserver
+					.getConfigManager()
+					.getVrConfig()
+					.getTracker(this.get())
+					.setAllowDriftCompensation(true);
+				vrserver.getConfigManager().saveConfig();
+			} else {
+				allowDriftCompensation = config.getAllowDriftCompensation();
+			}
 		}
 	}
 
@@ -129,6 +161,14 @@ public void setMountingOrientation(Quaternion mr) {
 		}
 	}
 
+	public boolean getAllowDriftCompensation() {
+		return allowDriftCompensation;
+	}
+
+	public void setAllowDriftCompensation(boolean allowDriftCompensation) {
+		this.allowDriftCompensation = allowDriftCompensation;
+	}
+
 	@Override
 	public void setFiltering(TrackerFilters type, float amount) {
 		if (type != null) {
@@ -151,6 +191,20 @@ public void setFiltering(TrackerFilters type, float amount) {
 		}
 	}
 
+	public void setDriftCompensationSettings(boolean enabled, float amount, int maxResets) {
+		compensateDrift = enabled;
+		driftAmount = amount;
+		if (enabled) {
+			if (driftQuats == null || maxResets != driftQuats.capacity()) {
+				driftQuats = new CircularArrayList<>(maxResets);
+				driftTimes = new CircularArrayList<>(maxResets);
+			}
+		} else {
+			driftQuats = null;
+			driftTimes = null;
+		}
+	}
+
 	@Override
 	public void tick() {
 		if (magnetometerCalibrated && hasNewCorrectionData) {
@@ -198,6 +252,15 @@ public boolean getRotation(Quaternion store) {
 		// prevent accidental errors while debugging other things
 		store.multLocal(mountAdjust);
 		adjustInternal(store);
+		if ((compensateDrift && allowDriftCompensation) && totalDriftTime > 0) {
+			store
+				.slerpLocal(
+					store.mult(averagedDriftQuat),
+					driftAmount
+						* ((float) (System.currentTimeMillis() - driftSince)
+							/ totalDriftTime)
+				);
+		}
 		return true;
 	}
 
@@ -207,6 +270,30 @@ public boolean getRawRotation(Quaternion store) {
 		return true;
 	}
 
+	public Quaternion getAdjustedRawRotation() {
+		Quaternion rot = new Quaternion(rotQuaternion);
+		// correction.mult(store, store); // Correction is not used now to
+		// prevent accidental errors while debugging other things
+		rot.multLocal(mountAdjust);
+		adjustInternal(rot);
+		return rot;
+	}
+
+	private Quaternion getMountedAdjustedRotation() {
+		Quaternion rot = new Quaternion(rotQuaternion);
+		rot.multLocal(mountAdjust);
+		if ((compensateDrift && allowDriftCompensation) && totalDriftTime > 0) {
+			rot
+				.slerpLocal(
+					rot.mult(averagedDriftQuat),
+					driftAmount
+						* ((float) (System.currentTimeMillis() - driftSince)
+							/ totalDriftTime)
+				);
+		}
+		return rot;
+	}
+
 	public void getCorrection(Quaternion store) {
 		store.set(correction);
 	}
@@ -263,18 +350,17 @@ public void setBatteryVoltage(float voltage) {
 	}
 
 	/**
-	 * Reset the tracker so that its current rotation is counted as (0, <HMD
-	 * Yaw>, 0). This allows the tracker to be strapped to body at any pitch and
-	 * roll.
-	 * <p>
-	 * Performs {@link #resetYaw(Quaternion)} for yaw drift correction.
+	 * Reset the tracker so that its current rotation is counted as (0, HMD Yaw,
+	 * 0). This allows the tracker to be strapped to body at any pitch and roll.
 	 */
 	@Override
 	public void resetFull(Quaternion reference) {
+		Quaternion rot = getAdjustedRawRotation();
 		fixGyroscope(getMountedAdjustedRotation());
 		fixAttachment(getMountedAdjustedRotation());
-
-		resetYaw(reference);
+		fixYaw(reference);
+		calibrateMag();
+		calculateDrift(rot);
 	}
 
 	/**
@@ -286,14 +372,10 @@ public void resetFull(Quaternion reference) {
 	 */
 	@Override
 	public void resetYaw(Quaternion reference) {
+		Quaternion rot = getAdjustedRawRotation();
 		fixYaw(reference);
-
-		if (magCalibrationStatus >= CalibrationAccuracy.HIGH.status) {
-			magnetometerCalibrated = true;
-			// During calibration set correction to match magnetometer readings
-			// TODO : Correct only yaw
-			correction.set(rotQuaternion).inverseLocal().multLocal(rotMagQuaternion);
-		}
+		calibrateMag();
+		calculateDrift(rot);
 	}
 
 	protected void adjustInternal(Quaternion store) {
@@ -303,10 +385,6 @@ protected void adjustInternal(Quaternion store) {
 		yawFix.mult(store, store);
 	}
 
-	private Quaternion getMountedAdjustedRotation() {
-		return rotQuaternion.mult(mountAdjust);
-	}
-
 	private void fixGyroscope(Quaternion sensorRotation) {
 		sensorRotation.fromAngles(0, sensorRotation.getYaw(), 0);
 		gyroFix.set(sensorRotation).inverseLocal();
@@ -362,6 +440,138 @@ private void fixYaw(Quaternion reference) {
 		yawFix.set(sensorRotation).inverseLocal().multLocal(targetRotation);
 	}
 
+	private void calibrateMag() {
+		if (magCalibrationStatus >= CalibrationAccuracy.HIGH.status) {
+			magnetometerCalibrated = true;
+			// During calibration set correction to match magnetometer readings
+			// TODO : Correct only yaw
+			correction.set(rotQuaternion).inverseLocal().multLocal(rotMagQuaternion);
+		}
+	}
+
+	/**
+	 * Calculates 1 since last reset and store the data related to it in
+	 * driftQuat, timeAtLastReset and timeForLastReset
+	 */
+	synchronized public void calculateDrift(Quaternion beforeQuat) {
+		if (compensateDrift && allowDriftCompensation) {
+			Quaternion rotQuat = getAdjustedRawRotation();
+
+			if (
+				driftSince > 0
+					&& System.currentTimeMillis() - timeAtLastReset > DRIFT_COOLDOWN_MS
+			) {
+				// Check and remove from lists to keep them under the reset
+				// limit
+				if (driftQuats.size() == driftQuats.capacity()) {
+					driftQuats.removeLast();
+					driftTimes.removeLast();
+				}
+
+				// Add new drift quaternion
+				driftQuats
+					.add(
+						new Quaternion()
+							.fromAngles(
+								0f,
+								rotQuat.mult(beforeQuat.inverse()).getYaw(),
+								0f
+							)
+					);
+
+				// Add drift time to total
+				driftTimes.add(System.currentTimeMillis() - driftSince);
+				totalDriftTime = 0;
+				for (Long time : driftTimes) {
+					totalDriftTime += time;
+				}
+
+				// Calculate drift Quaternions' weights
+				driftWeights.clear();
+				for (Long time : driftTimes) {
+					driftWeights.add(((float) time) / ((float) totalDriftTime));
+				}
+				// Make it so recent Quaternions weigh more
+				for (int i = driftWeights.size() - 1; i > 0; i--) {
+					// Add some of i-1's value to i
+					driftWeights
+						.set(
+							i,
+							driftWeights.get(i) + (driftWeights.get(i - 1) / driftWeights.size())
+						);
+					// Remove the value that was added to i from i-1
+					driftWeights
+						.set(
+							i - 1,
+							driftWeights.get(i - 1)
+								- (driftWeights.get(i - 1) / driftWeights.size())
+						);
+				}
+
+				// Set final averaged drift Quaternion
+				averagedDriftQuat.fromAveragedQuaternions(driftQuats, driftWeights);
+
+				// Save tracker rotation and current time
+				rotationSinceReset.set(rotQuat.mult(beforeQuat.inverse()));
+				timeAtLastReset = System.currentTimeMillis();
+			} else if (
+				System.currentTimeMillis() - timeAtLastReset < DRIFT_COOLDOWN_MS
+					&& driftQuats.size() > 0
+			) {
+				// Replace latest drift quaternion
+				rotationSinceReset.multLocal(beforeQuat.mult(rotQuat.inverse()));
+				driftQuats
+					.set(
+						driftQuats.size() - 1,
+						new Quaternion()
+							.fromAngles(
+								0f,
+								rotationSinceReset.inverse().getYaw(),
+								0f
+							)
+					);
+
+				// Add drift time to total
+				driftTimes
+					.set(
+						driftTimes.size() - 1,
+						driftTimes.getLatest() + System.currentTimeMillis() - driftSince
+					);
+				totalDriftTime = 0;
+				for (Long time : driftTimes) {
+					totalDriftTime += time;
+				}
+
+				// Calculate drift Quaternions' weights
+				driftWeights.clear();
+				for (Long time : driftTimes) {
+					driftWeights.add(((float) time) / ((float) totalDriftTime));
+				}
+				// Make it so recent Quaternions weigh more
+				for (int i = driftWeights.size() - 1; i > 0; i--) {
+					driftWeights
+						.set(
+							i,
+							driftWeights.get(i) + (driftWeights.get(i - 1) / driftWeights.size())
+						);
+					driftWeights
+						.set(
+							i - 1,
+							driftWeights.get(i - 1)
+								- (driftWeights.get(i - 1) / driftWeights.size())
+						);
+				}
+
+				// Set final averaged drift Quaternion
+				averagedDriftQuat.fromAveragedQuaternions(driftQuats, driftWeights);
+			} else {
+				timeAtLastReset = System.currentTimeMillis();
+			}
+
+			driftSince = System.currentTimeMillis();
+		}
+	}
+
 	/**
 	 * Calculate correction between normal and magnetometer readings up to
 	 * accuracy threshold
diff --git a/solarxr-protocol b/solarxr-protocol
index d96bf2136f..3cb3e7aeea 160000
--- a/solarxr-protocol
+++ b/solarxr-protocol
@@ -1 +1 @@
-Subproject commit d96bf2136fd50b653799c9f3a925309798924272
+Subproject commit 3cb3e7aeea751239d4e7508ad4abeae4dc612298