i feel like this feature need deeper integration into the onboarding especially for the detect angles part. we cannot expect people to do it if we do not explain why and better explain how.

Few things that we need to explain to the user precisely.

• When should you perform the auto detect: One time? every session?
• Should it be done before / after autobone / mounting

These questions also make me think that this could be integrated into autobone / done at the same time without user interraction.

Also i would love a list of possible drawbacks: no solution is perfect and because this is basically guessing i suppose there is cases where this could underperfom

Things like the adjustment rate, depending on the IMU type should be bound to the tracker settings. as people have been mismatching trackers imus in the past. also i feel like this should be auto detected / defaulted based on the IMU type

I was thinking of building a wizard for walking the user through setting the angles. This would be a good place to address both of your questions. However, I am not a frontend engineer, so it's going to be challenging for me.

When should you perform the auto detect: One time? every session?

Auto detect angles should be done once, just like Autobone.

Should it be done before / after autobone / mounting

It should be done after full reset and mounting reset. It doesn't need Autobone specifically.

These questions also make me think that this could be integrated into autobone / done at the same time without user interraction.

There is no step in Autobone to collect "relaxed" postures. Maybe this could be added as extra steps to Autobone? I don't have a strong opinion.

Also i would love a list of possible drawbacks: no solution is perfect and because this is basically guessing i suppose there is cases where this could underperfom

In all the situations I have tested, it outperforms the default by a lot, at least on BMI270s and BMI160s. Anecdotally, it also outperforms the default on BNO085s and LSM6DSVs (but I don't have those IMUs).

I am not promising that it is perfect. For example, if you sit at a weird angle, you may see your body drift a little. But the drift ends up being capped to about 20 deg off-center, and the body proportions remain realistic. Compare this to the default where your chest or waist ends up twisted arbitrarily. I'm promising that it's better than the default.

Things like the adjustment rate, depending on the IMU type should be bound to the tracker settings. as people have been mismatching trackers imus in the past. also i feel like this should be auto detected / defaulted based on the IMU type

I would recommend just having one setting, chosen based on their worst IMU. Otherwise there'll be settings spread out across trackers, like "Enable drift compensation". In practice, 0.2 works well for all IMUs. I might even consider removing the setting completely.

Also i would love a list of possible drawbacks: no solution is perfect and because this is basically guessing i suppose there is cases where this could underperfom

Butterscotch reminded me of a drawback. If the user sits in a significantly different position than what they selected in the relaxed body angles (e.g. they sit with their legs slightly crossed), Stay Aligned will try to undo their position.