diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 04a6d58aae..c79f589b15 100755
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -3797,7 +3797,7 @@ void MyAvatar::lateUpdatePalms() {
 }
 
 
-static const float FOLLOW_TIME = 0.5f;
+static const float FOLLOW_TIME = 0.1f;
 
 MyAvatar::FollowHelper::FollowHelper() {
     deactivate();
@@ -3902,8 +3902,13 @@ bool MyAvatar::FollowHelper::shouldActivateHorizontalCG(MyAvatar& myAvatar) cons
         glm::vec3 defaultHeadPosition = myAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(myAvatar.getJointIndex("Head"));
         glm::vec3 currentHeadPosition = currentHeadPose.getTranslation();
         float anatomicalHeadToHipsDistance = glm::length(defaultHeadPosition - defaultHipsPosition);
+        //if (!isActive(Horizontal) &&
+        //    (glm::length(currentHeadPosition - defaultHipsPosition) > (anatomicalHeadToHipsDistance + DEFAULT_AVATAR_SPINE_STRETCH_LIMIT))) {
+        //    myAvatar.setResetMode(true);
+        //    stepDetected = true;
+        //}
         if (!isActive(Horizontal) &&
-            (glm::length(currentHeadPosition - defaultHipsPosition) > (anatomicalHeadToHipsDistance + DEFAULT_AVATAR_SPINE_STRETCH_LIMIT))) {
+            (glm::length(currentHeadPosition - defaultHipsPosition) > (anatomicalHeadToHipsDistance + (DEFAULT_AVATAR_SPINE_STRETCH_LIMIT * anatomicalHeadToHipsDistance * myAvatar.getAvatarScale())))) {
             myAvatar.setResetMode(true);
             stepDetected = true;
         }
@@ -3925,10 +3930,15 @@ void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat
 
     if (myAvatar.getHMDLeanRecenterEnabled() &&
         qApp->getCamera().getMode() != CAMERA_MODE_MIRROR) {
-        if (!isActive(Rotation) && (shouldActivateRotation(myAvatar, desiredBodyMatrix, currentBodyMatrix) || hasDriveInput)) {
+        if (!isActive(Rotation) && getForceActivateRotation()) {
             activate(Rotation);
             myAvatar.setHeadControllerFacingMovingAverage(myAvatar._headControllerFacing);
+            setForceActivateRotation(false);
         }
+        //if (!isActive(Rotation) && (shouldActivateRotation(myAvatar, desiredBodyMatrix, currentBodyMatrix) || hasDriveInput)) {
+        //    activate(Rotation);
+        //    myAvatar.setHeadControllerFacingMovingAverage(myAvatar._headControllerFacing);
+        //}
         if (myAvatar.getCenterOfGravityModelEnabled()) {
             if (!isActive(Horizontal) && (shouldActivateHorizontalCG(myAvatar) || hasDriveInput)) {
                 activate(Horizontal);
@@ -3937,11 +3947,6 @@ void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat
                     myAvatar.setHeadControllerFacingMovingAverage(myAvatar._headControllerFacing);
                 }
             }
-            if (!isActive(Rotation) && getForceActivateRotation()) {
-                activate(Rotation);
-                myAvatar.setHeadControllerFacingMovingAverage(myAvatar._headControllerFacing);
-                setForceActivateRotation(false);
-            }
         } else {
             if (!isActive(Horizontal) && (shouldActivateHorizontal(myAvatar, desiredBodyMatrix, currentBodyMatrix) || hasDriveInput)) {
                 activate(Horizontal);
diff --git a/libraries/shared/src/AvatarConstants.h b/libraries/shared/src/AvatarConstants.h
index 39117de7ef..b97f586d32 100644
--- a/libraries/shared/src/AvatarConstants.h
+++ b/libraries/shared/src/AvatarConstants.h
@@ -34,7 +34,7 @@ const float DEFAULT_HANDS_ANGULAR_VELOCITY_STEPPING_THRESHOLD = 3.3f;
 const float DEFAULT_HEAD_VELOCITY_STEPPING_THRESHOLD = 0.18f;
 const float DEFAULT_HEAD_PITCH_STEPPING_TOLERANCE = 7.0f;
 const float DEFAULT_HEAD_ROLL_STEPPING_TOLERANCE = 7.0f;
-const float DEFAULT_AVATAR_SPINE_STRETCH_LIMIT = 0.07f;
+const float DEFAULT_AVATAR_SPINE_STRETCH_LIMIT = 0.05f;
 const float DEFAULT_AVATAR_FORWARD_DAMPENING_FACTOR = 0.5f;
 const float DEFAULT_AVATAR_LATERAL_DAMPENING_FACTOR = 2.0f;
 const float DEFAULT_AVATAR_HIPS_MASS = 40.0f;
diff --git a/scripts/developer/rotateApp.js b/scripts/developer/rotateApp.js
index 7794232196..4d18910335 100644
--- a/scripts/developer/rotateApp.js
+++ b/scripts/developer/rotateApp.js
@@ -259,7 +259,7 @@ function limitAngle(angle) {
     return (angle + 180) % 360 - 180;
 }
 
-function computeHandAzimuths() {
+function computeHandAzimuths(timeElapsed) {
     var leftHand = currentStateReadings.lhandPose.translation;
     var rightHand = currentStateReadings.rhandPose.translation;
     var head = currentStateReadings.headPose.translation;
@@ -272,8 +272,9 @@ function computeHandAzimuths() {
     var avatarZAxis = { x: 0.0, y: 0.0, z: 1.0 };
     var hipToLHand = Quat.lookAtSimple({ x: 0, y: 0, z: 0 }, lHandMinusHead);
     var hipToRHand = Quat.lookAtSimple({ x: 0, y: 0, z: 0 }, rHandMinusHead);
-    hipToLHandAverage = Quat.slerp(hipToLHandAverage, hipToLHand, AVERAGING_RATE);
-    hipToRHandAverage = Quat.slerp(hipToRHandAverage, hipToRHand, AVERAGING_RATE);
+    var tau = timeElapsed / filterLengthProperty.value;
+    hipToLHandAverage = Quat.slerp(hipToLHandAverage, hipToLHand, tau);
+    hipToRHandAverage = Quat.slerp(hipToRHandAverage, hipToRHand, tau);
 
     // var angleToLeft = limitAngle(Quat.safeEulerAngles(hipToLHandAverage).y);
     // var angleToRight = limitAngle(Quat.safeEulerAngles(hipToRHandAverage).y);
@@ -283,11 +284,7 @@ function computeHandAzimuths() {
     // limit the angle because we are flipped by 180, fix this tomorrow.
     // print(leftRightMidpointAverage/180.0);
     // print("threshold value " + angleThresholdProperty.value);
-    // get it into radians too!!
-    if ((Math.abs(leftRightMidpointAverage/180.0) * Math.PI) > angleThresholdProperty.value) {
-        print("recenter the feet under the head");
-        MyAvatar.triggerRotationRecenter();
-    }
+    
 
     var raySpineRotation = Quat.fromVec3Degrees({ x: 0, y: leftRightMidpointAverage, z: 0 });
     var zAxisSpineRotation = Vec3.multiplyQbyV(raySpineRotation, { x: 0, y: 0, z: -1 });
@@ -295,6 +292,22 @@ function computeHandAzimuths() {
     DebugDraw.drawRay(MyAvatar.position, Vec3.sum(MyAvatar.position, zAxisWorldSpace), { x: 1, y: 0, z: 0, w: 1 });
 
     //print(leftRightMidpoint);
+
+    var headPoseRigSpace = Quat.multiply(CHANGE_OF_BASIS_ROTATION, currentStateReadings.head.rotation);
+    headPoseAverageOrientation = Quat.slerp(headPoseAverageOrientation, headPoseRigSpace, tau);
+    var headPoseAverageEulers = Quat.safeEulerAngles(headPoseAverageOrientation);
+
+    // get it into radians too!!
+    // average head and hands 50/50
+    print("hands azimuth " + leftRightMidpointAverage + " head azimuth " + headPoseAverageEulers.y)
+    var headPlusHands = (leftRightMidpointAverage + headPoseAverageEulers.y) / 2.0;
+    if ((Math.abs(headPlusHands / 180.0) * Math.PI) > angleThresholdProperty.value) {
+        print("recenter the feet under the head");
+        MyAvatar.triggerRotationRecenter();
+        hipToLHandAverage = { x: 0, y: 0, z: 0, w: 1 };
+        hipToRHandAverage = { x: 0, y: 0, z: 0, w: 1 };
+        headPoseAverageOrientation = { x: 0, y: 0, z: 0, w: 1 };
+    }
     
     return Quat.fromVec3Degrees({ x: 0, y: leftRightMidpoint, z: 0 });
 
@@ -309,7 +322,9 @@ function update(dt) {
 
     //print(JSON.stringify(currentStateReadings.head));
 
-    var latestSpineRotation = computeHandAzimuths();
+
+
+    var latestSpineRotation = computeHandAzimuths(dt);
     
     spine2Rotation = latestSpineRotation;
     var spine2Pos = MyAvatar.getAbsoluteJointTranslationInObjectFrame(MyAvatar.getJointIndex("Spine2"));