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d/wmr: reduce drifting by applying calibration biases to WMR controllers

Linus Lüssing requested to merge T_X/monado:apply-wmr-controller-biases into main

For one thing this applies the calibrated gyro and acceleromater bias provided by the WMR controllers via the WMR protocol to to the according sensor values of the controller. For another, this applies the temperature mixing matrix in the same, partial way as it is applied to the HMD. That is it currently disregards the polynomial coefficiency nature - which is okay for the Reverb G2 or Odyssey as any temperature dependant, non-constant coefficients in the mixing matrix seem to always be 0 in the calibration data for it.

All this is, in theory, to reduce drifting. However for the Reverb G2 and Odyssey it did not eliminate it completely.

Signed-off-by: Linus Lüssing linus.luessing@c0d3.blue

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