diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp
index 6dad3725ab..ad82c1fe12 100644
--- a/interface/src/Application.cpp
+++ b/interface/src/Application.cpp
@@ -692,6 +692,10 @@ Application::Application(int& argc, char** argv, QElapsedTimer &startup_time) :
     auto applicationUpdater = DependencyManager::get<AutoUpdater>();
     connect(applicationUpdater.data(), &AutoUpdater::newVersionIsAvailable, dialogsManager.data(), &DialogsManager::showUpdateDialog);
     applicationUpdater->checkForUpdate();
+
+    // Now that menu is initalized we can sync myAvatar with it's state.
+    _myAvatar->updateMotionBehaviorFromMenu();
+    _myAvatar->updateStandingHMDModeFromMenu();
 }
 
 void Application::aboutToQuit() {
@@ -969,15 +973,6 @@ void Application::paintGL() {
         } else {
             _myCamera.setRotation(glm::quat_cast(_myAvatar->getSensorToWorldMatrix() * getHMDSensorPose()));
         }
-
-        /*
-        qCDebug(interfaceapp, "paintGL");
-        glm::vec3 cameraPos = _myCamera.getPosition();
-        glm::quat cameraRot = _myCamera.getRotation();
-        qCDebug(interfaceapp, "\tcamera pos = (%.5f, %.5f, %.5f)", cameraPos.x, cameraPos.y, cameraPos.z);
-        qCDebug(interfaceapp, "\tcamera rot = (%.5f, %.5f, %.5f, %.5f)", cameraRot.x, cameraRot.y, cameraRot.z, cameraRot.w);
-        */
-
     } else if (_myCamera.getMode() == CAMERA_MODE_THIRD_PERSON) {
         if (isHMDMode()) {
             _myCamera.setRotation(_myAvatar->getWorldAlignedOrientation());
@@ -2803,11 +2798,6 @@ void Application::update(float deltaTime) {
     }
 }
 
-// AJT: hack for debug drawing.
-extern const int NUM_MARKERS;
-extern glm::mat4 markerMats[];
-extern glm::vec4 markerColors[];
-
 void Application::setPalmData(Hand* hand, UserInputMapper::PoseValue pose, int index) {
     PalmData* palm;
     bool foundHand = false;
@@ -2838,9 +2828,6 @@ void Application::setPalmData(Hand* hand, UserInputMapper::PoseValue pose, int i
 
     palm->setRawPosition(extractTranslation(objectPose));
     palm->setRawRotation(glm::quat_cast(objectPose));
-
-    // AJT: Hack for debug drawing.
-    //markerMats[index] = sensorToWorldMat * poseMat;
 }
 
 void Application::emulateMouse(Hand* hand, float click, float shift, int index) {
diff --git a/interface/src/Menu.cpp b/interface/src/Menu.cpp
index e7f3159536..84253a21d7 100644
--- a/interface/src/Menu.cpp
+++ b/interface/src/Menu.cpp
@@ -244,16 +244,16 @@ Menu::Menu() {
                                   SLOT(resetSize()));
 
     addCheckableActionToQMenuAndActionHash(avatarMenu, MenuOption::KeyboardMotorControl,
-            Qt::CTRL | Qt::SHIFT | Qt::Key_K, true, avatar, SLOT(updateMotionBehavior()));
+            Qt::CTRL | Qt::SHIFT | Qt::Key_K, true, avatar, SLOT(updateMotionBehaviorFromMenu()));
     addCheckableActionToQMenuAndActionHash(avatarMenu, MenuOption::ScriptedMotorControl, 0, true,
-            avatar, SLOT(updateMotionBehavior()));
+            avatar, SLOT(updateMotionBehaviorFromMenu()));
     addCheckableActionToQMenuAndActionHash(avatarMenu, MenuOption::NamesAboveHeads, 0, true);
     addCheckableActionToQMenuAndActionHash(avatarMenu, MenuOption::GlowWhenSpeaking, 0, true);
     addCheckableActionToQMenuAndActionHash(avatarMenu, MenuOption::BlueSpeechSphere, 0, true);
     addCheckableActionToQMenuAndActionHash(avatarMenu, MenuOption::EnableCharacterController, 0, true,
-            avatar, SLOT(updateMotionBehavior()));
+            avatar, SLOT(updateMotionBehaviorFromMenu()));
     addCheckableActionToQMenuAndActionHash(avatarMenu, MenuOption::ShiftHipsForIdleAnimations, 0, false,
-            avatar, SLOT(updateMotionBehavior()));
+            avatar, SLOT(updateMotionBehaviorFromMenu()));
 
     MenuWrapper* viewMenu = addMenu("View");
     {
@@ -325,6 +325,9 @@ Menu::Menu() {
 
     addCheckableActionToQMenuAndActionHash(viewMenu, MenuOption::TurnWithHead, 0, false);
 
+    addCheckableActionToQMenuAndActionHash(viewMenu, MenuOption::StandingHMDSensorMode, 0, false,
+                                           avatar, SLOT(updateStandingHMDModeFromMenu()));
+
     addCheckableActionToQMenuAndActionHash(viewMenu, MenuOption::Stats);
     addActionToQMenuAndActionHash(viewMenu, MenuOption::Log,
         Qt::CTRL | Qt::SHIFT | Qt::Key_L,
diff --git a/interface/src/Menu.h b/interface/src/Menu.h
index 4156db8a38..fee3229682 100644
--- a/interface/src/Menu.h
+++ b/interface/src/Menu.h
@@ -274,6 +274,7 @@ namespace MenuOption {
     const QString SimpleShadows = "Simple";
     const QString SixenseEnabled = "Enable Hydra Support";
     const QString ShiftHipsForIdleAnimations = "Shift hips for idle animations";
+    const QString StandingHMDSensorMode = "Standing HMD Sensor Mode";
     const QString Stars = "Stars";
     const QString Stats = "Stats";
     const QString StopAllScripts = "Stop All Scripts";
diff --git a/interface/src/Util.cpp b/interface/src/Util.cpp
index 949fcd0796..82f7d55b5d 100644
--- a/interface/src/Util.cpp
+++ b/interface/src/Util.cpp
@@ -34,13 +34,6 @@
 
 using namespace std;
 
-// AJT HACK, I'm using these markers for debugging.
-// extern them and set them in other cpp files and they will be rendered
-// with the world box.
-const int NUM_MARKERS = 4;
-glm::mat4 markerMats[NUM_MARKERS];
-glm::vec4 markerColors[NUM_MARKERS] = {{1, 0, 0, 1}, {0, 1, 0, 1}, {0, 0, 1, 1}, {0, 1, 1, 1}};
-
 void renderWorldBox(gpu::Batch& batch) {
     auto geometryCache = DependencyManager::get<GeometryCache>();
 
@@ -79,26 +72,6 @@ void renderWorldBox(gpu::Batch& batch) {
     transform.setTranslation(glm::vec3(MARKER_DISTANCE, 0.0f, MARKER_DISTANCE));
     batch.setModelTransform(transform);
     geometryCache->renderSphere(batch, MARKER_RADIUS, 10, 10, grey);
-
-    // draw marker spheres
-    for (int i = 0; i < NUM_MARKERS; i++) {
-        transform.setTranslation(extractTranslation(markerMats[i]));
-        batch.setModelTransform(transform);
-        geometryCache->renderSphere(batch, 0.02f, 10, 10, markerColors[i]);
-    }
-
-    // draw marker axes
-    auto identity = Transform{};
-    batch.setModelTransform(identity);
-    for (int i = 0; i < NUM_MARKERS; i++) {
-        glm::vec3 base = extractTranslation(markerMats[i]);
-        glm::vec3 xAxis = transformPoint(markerMats[i], glm::vec3(1, 0, 0));
-        glm::vec3 yAxis = transformPoint(markerMats[i], glm::vec3(0, 1, 0));
-        glm::vec3 zAxis = transformPoint(markerMats[i], glm::vec3(0, 0, 1));
-        geometryCache->renderLine(batch, base, xAxis, red);
-        geometryCache->renderLine(batch, base, yAxis, green);
-        geometryCache->renderLine(batch, base, zAxis, blue);
-    }
 }
 
 //  Return a random vector of average length 1
diff --git a/interface/src/avatar/Head.cpp b/interface/src/avatar/Head.cpp
index 607a7bd0d8..e1d62cb1eb 100644
--- a/interface/src/avatar/Head.cpp
+++ b/interface/src/avatar/Head.cpp
@@ -28,8 +28,6 @@
 
 using namespace std;
 
-static bool isRoomTracking = true;
-
 Head::Head(Avatar* owningAvatar) :
     HeadData((AvatarData*)owningAvatar),
     _returnHeadToCenter(false),
@@ -120,7 +118,7 @@ void Head::simulate(float deltaTime, bool isMine, bool billboard) {
             }
         }
 
-        if (!isRoomTracking) {
+        if (!myAvatar->getStandingHMDSensorMode()) {
             //  Twist the upper body to follow the rotation of the head, but only do this with my avatar,
             //  since everyone else will see the full joint rotations for other people.  
             const float BODY_FOLLOW_HEAD_YAW_RATE = 0.1f;
@@ -342,7 +340,7 @@ glm::quat Head::getCameraOrientation() const {
     // always the same.
     if (qApp->isHMDMode()) {
         MyAvatar* myAvatar = dynamic_cast<MyAvatar*>(_owningAvatar);
-        if (isRoomTracking && myAvatar) {
+        if (myAvatar && myAvatar->getStandingHMDSensorMode()) {
             return glm::quat_cast(myAvatar->getSensorToWorldMatrix()) * myAvatar->getHMDSensorOrientation();
         } else {
             return getOrientation();
diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 43c0271010..3c7876fcf7 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -77,8 +77,6 @@ const float MyAvatar::ZOOM_MIN = 0.5f;
 const float MyAvatar::ZOOM_MAX = 25.0f;
 const float MyAvatar::ZOOM_DEFAULT = 1.5f;
 
-static bool isRoomTracking = true;
-
 MyAvatar::MyAvatar() :
 	Avatar(),
     _gravity(0.0f, 0.0f, 0.0f),
@@ -110,7 +108,8 @@ MyAvatar::MyAvatar() :
     _hmdSensorPosition(),
     _bodySensorMatrix(),
     _inverseBodySensorMatrix(),
-    _sensorToWorldMatrix()
+    _sensorToWorldMatrix(),
+    _standingHMDSensorMode(false)
 {
     _firstPersonSkeletonModel.setIsFirstPerson(true);
 
@@ -311,7 +310,7 @@ void MyAvatar::updateFromTrackers(float deltaTime) {
 
     Head* head = getHead();
     if (inHmd || isPlaying()) {
-        if (!isRoomTracking) {
+        if (!getStandingHMDSensorMode()) {
             head->setDeltaPitch(estimatedRotation.x);
             head->setDeltaYaw(estimatedRotation.y);
             head->setDeltaRoll(estimatedRotation.z);
@@ -337,7 +336,7 @@ void MyAvatar::updateFromTrackers(float deltaTime) {
         relativePosition.x = -relativePosition.x;
     }
 
-    if (!(inHmd && isRoomTracking)) {
+    if (!(inHmd && getStandingHMDSensorMode())) {
         head->setLeanSideways(glm::clamp(glm::degrees(atanf(relativePosition.x * _leanScale / TORSO_LENGTH)),
                                          -MAX_LEAN, MAX_LEAN));
         head->setLeanForward(glm::clamp(glm::degrees(atanf(relativePosition.z * _leanScale / TORSO_LENGTH)),
@@ -1340,7 +1339,7 @@ void MyAvatar::updateOrientation(float deltaTime) {
     glm::mat4 sensorOffset = bodyMat * glm::mat4_cast(twist) * glm::inverse(bodyMat);
     _sensorToWorldMatrix = sensorOffset * _sensorToWorldMatrix;
 
-    if (!(qApp->isHMDMode() && isRoomTracking)) {
+    if (!(qApp->isHMDMode() && getStandingHMDSensorMode())) {
         setOrientation(twist * getOrientation());
     }
 
@@ -1532,7 +1531,7 @@ void MyAvatar::updatePosition(float deltaTime) {
     const float MOVING_SPEED_THRESHOLD = 0.01f;
     _moving = speed > MOVING_SPEED_THRESHOLD;
 
-    if (qApp->isHMDMode() && isRoomTracking) {
+    if (qApp->isHMDMode() && getStandingHMDSensorMode()) {
         Avatar::setPosition(getWorldBodyPosition());
     }
 }
@@ -1626,7 +1625,7 @@ void MyAvatar::goToLocation(const glm::vec3& newPosition,
     qCDebug(interfaceapp).nospace() << "MyAvatar goToLocation - moving to " << newPosition.x << ", "
         << newPosition.y << ", " << newPosition.z;
 
-    if (qApp->isHMDMode() && isRoomTracking) {
+    if (qApp->isHMDMode() && getStandingHMDSensorMode()) {
         // AJT: FIXME, does not work with orientation.
         // AJT: FIXME, does not work with shouldFaceLocation flag.
         // Set the orientation of the sensor room, not the avatar itself.
@@ -1658,7 +1657,7 @@ void MyAvatar::goToLocation(const glm::vec3& newPosition,
     emit transformChanged();
 }
 
-void MyAvatar::updateMotionBehavior() {
+void MyAvatar::updateMotionBehaviorFromMenu() {
     Menu* menu = Menu::getInstance();
     if (menu->isOptionChecked(MenuOption::KeyboardMotorControl)) {
         _motionBehaviors |= AVATAR_MOTION_KEYBOARD_MOTOR_ENABLED;
@@ -1674,6 +1673,11 @@ void MyAvatar::updateMotionBehavior() {
     _feetTouchFloor = menu->isOptionChecked(MenuOption::ShiftHipsForIdleAnimations);
 }
 
+void MyAvatar::updateStandingHMDModeFromMenu() {
+    Menu* menu = Menu::getInstance();
+    _standingHMDSensorMode = menu->isOptionChecked(MenuOption::StandingHMDSensorMode);
+}
+
 //Renders sixense laser pointers for UI selection with controllers
 void MyAvatar::renderLaserPointers(gpu::Batch& batch) {
     const float PALM_TIP_ROD_RADIUS = 0.002f;
@@ -1726,7 +1730,6 @@ void MyAvatar::relayDriveKeysToCharacterController() {
     }
 }
 
-// overriden, because they must move the sensor mat, so that the avatar will be at the given location.
 void MyAvatar::setPosition(const glm::vec3 position, bool overideReferential) {
 
     // update the sensor mat so that the body position will end up in the desired
@@ -1737,7 +1740,6 @@ void MyAvatar::setPosition(const glm::vec3 position, bool overideReferential) {
     Avatar::setPosition(position);
 }
 
-// overriden, because they must move the sensor mat, so that the avatar will face the given orienation.
 void MyAvatar::setOrientation(const glm::quat& orientation, bool overideReferential) {
 
     // update the sensor mat so that the body position will end up in the desired
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index 7c0019adf4..0cf74d8b28 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -192,6 +192,8 @@ public:
     static const float ZOOM_MAX;
     static const float ZOOM_DEFAULT;
 
+    bool getStandingHMDSensorMode() const { return _standingHMDSensorMode; }
+
 public slots:
     void increaseSize();
     void decreaseSize();
@@ -206,7 +208,8 @@ public slots:
     glm::vec3 getThrust() { return _thrust; };
     void setThrust(glm::vec3 newThrust) { _thrust = newThrust; }
 
-    void updateMotionBehavior();
+    void updateMotionBehaviorFromMenu();
+    void updateStandingHMDModeFromMenu();
 
     glm::vec3 getLeftPalmPosition();
     glm::quat getLeftPalmRotation();
@@ -226,6 +229,8 @@ public slots:
 
     virtual void rebuildSkeletonBody();
 
+
+
 signals:
     void transformChanged();
     void newCollisionSoundURL(const QUrl& url);
@@ -326,6 +331,8 @@ private:
 
     // used to transform any sensor into world space, including the _hmdSensorMat, or hand controllers.
     glm::mat4 _sensorToWorldMatrix;
+
+    bool _standingHMDSensorMode;
 };
 
 #endif // hifi_MyAvatar_h
diff --git a/libraries/physics/src/DynamicCharacterController.cpp b/libraries/physics/src/DynamicCharacterController.cpp
index 520108d59f..22f84eccec 100644
--- a/libraries/physics/src/DynamicCharacterController.cpp
+++ b/libraries/physics/src/DynamicCharacterController.cpp
@@ -357,13 +357,6 @@ void DynamicCharacterController::preSimulation(btScalar timeStep) {
         glm::vec3 position = _avatarData->getPosition() + rotation * _shapeLocalOffset;
         _rigidBody->setWorldTransform(btTransform(glmToBullet(rotation), glmToBullet(position)));
 
-        /*
-        qCDebug(physics, "preSimulation()");
-        qCDebug(physics, "\trigidbody position = (%.5f, %.5f, %.5f)", position.x, position.y, position.z);
-        glm::vec3 p = _avatarData->getPosition();
-        qCDebug(physics, "\tavatar position = (%.5f, %.5f, %.5f)", p.x, p.y, p.z);
-        */
-
         // the rotation is dictated by AvatarData
         btTransform xform = _rigidBody->getWorldTransform();
         xform.setRotation(glmToBullet(rotation));
@@ -419,13 +412,5 @@ void DynamicCharacterController::postSimulation() {
         _avatarData->setOrientation(rotation);
         _avatarData->setPosition(position - rotation * _shapeLocalOffset);
         _avatarData->setVelocity(bulletToGLM(_rigidBody->getLinearVelocity()));
-
-        /*
-        qCDebug(physics, "postSimulation()");
-        qCDebug(physics, "\trigidbody position = (%.5f, %.5f, %.5f)", position.x, position.y, position.z);
-        glm::vec3 p = position - rotation * _shapeLocalOffset;
-        qCDebug(physics, "\tavatar position = (%.5f, %.5f, %.5f)", p.x, p.y, p.z);
-        qCDebug(physics, "\t_shapeLocalOffset = (%.5f, %.5f, %.5f)", _shapeLocalOffset.x, _shapeLocalOffset.y, _shapeLocalOffset.z);
-        */
     }
 }