diff --git a/interface/src/SerialInterface.cpp b/interface/src/SerialInterface.cpp
index 9933ba1129..02c672ba8f 100644
--- a/interface/src/SerialInterface.cpp
+++ b/interface/src/SerialInterface.cpp
@@ -236,6 +236,11 @@ void SerialInterface::readData(float deltaTime) {
         glm::vec3 angularAcceleration = (deltaTime < EPSILON) ? glm::vec3() : (rotationRates - _lastRotationRates) / deltaTime;
         _lastRotationRates = rotationRates;
 
+        _averageRotationRates = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageRotationRates +
+                1.f/(float)LONG_TERM_RATE_SAMPLES * _lastRotationRates;
+        
+        printLog("r: %g %g %g\n", _averageRotationRates.x, _averageRotationRates.y, _averageRotationRates.z);
+
         //  Update raw rotation estimates
         glm::quat estimatedRotation = glm::quat(glm::radians(_estimatedRotation)) *
             glm::quat(glm::radians(deltaTime * _lastRotationRates));
@@ -247,7 +252,7 @@ void SerialInterface::readData(float deltaTime) {
         _averageAcceleration = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageAcceleration +
                 1.f/(float)LONG_TERM_RATE_SAMPLES * _estimatedAcceleration;
         
-        printLog("%g %g %g\n", _averageAcceleration.x, _averageAcceleration.y, _averageAcceleration.z);
+        printLog("a: %g %g %g\n", _averageAcceleration.x, _averageAcceleration.y, _averageAcceleration.z);
         
         //  Consider updating our angular velocity/acceleration to linear acceleration mapping
         if (glm::length(_estimatedAcceleration) > EPSILON &&
diff --git a/interface/src/SerialInterface.h b/interface/src/SerialInterface.h
index 73f67fc618..88af60ccbe 100644
--- a/interface/src/SerialInterface.h
+++ b/interface/src/SerialInterface.h
@@ -74,6 +74,7 @@ private:
     glm::vec3 _lastRotationRates;
     
     glm::vec3 _averageAcceleration;
+    glm::vec3 _averageRotationRates;
     
     glm::mat3 _angularVelocityToLinearAccel;
     glm::mat3 _angularAccelToLinearAccel;
diff --git a/libraries/shared/src/SharedUtil.cpp b/libraries/shared/src/SharedUtil.cpp
index 30aa75b461..697719b36d 100644
--- a/libraries/shared/src/SharedUtil.cpp
+++ b/libraries/shared/src/SharedUtil.cpp
@@ -102,12 +102,12 @@ void setAtBit(unsigned char& byte, int bitIndex) {
 }
 
 int  getSemiNibbleAt(unsigned char& byte, int bitIndex) {
-    return (byte >> (7 - bitIndex) & 3); // semi-nibbles store 00, 01, 10, or 11
+    return (byte >> (6 - bitIndex) & 3); // semi-nibbles store 00, 01, 10, or 11
 }
 
 void setSemiNibbleAt(unsigned char& byte, int bitIndex, int value) {
     //assert(value <= 3 && value >= 0);
-    byte += ((value & 3) << (7 - bitIndex)); // semi-nibbles store 00, 01, 10, or 11
+    byte += ((value & 3) << (6 - bitIndex)); // semi-nibbles store 00, 01, 10, or 11
 }