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d/vive: Small improvements to IMU and driver code

Christoph Haag requested to merge haagch/monado:vive_drift into main

This MR used to be titled "d/vive: Apply gyro bias in zxy order" changed to bring in changes that was improvements in general to the driver. Old message below.

This is RFC because I have not tested it on any other device than my Valve Index, on which it stops heavy drifting.

My Valve Index heavily drifts with the original order while resting.

gyro without bias x = 0.023702 y = -0.001598 z = 0.010919
bias              x = 0.008667 y = -0.009314 z = 0.025930

Acceleration bias does NOT seem to follow that scheme and applying it in zxy order causes visually worse tracking behavior.

acc without bias x = -9.753767 y = -0.019156 z = -0.543914
bias             x = 0.059932  y = -0.090968 z = 0.021342
Edited by Jakob Bornecrantz

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