diff --git a/media/libheadtracking/HeadTrackingProcessor.cpp b/media/libheadtracking/HeadTrackingProcessor.cpp
index dd2244a..257ee42 100644
--- a/media/libheadtracking/HeadTrackingProcessor.cpp
+++ b/media/libheadtracking/HeadTrackingProcessor.cpp
@@ -46,6 +46,11 @@
                   .translationalThreshold = options.autoRecenterTranslationalThreshold,
                   .rotationalThreshold = options.autoRecenterRotationalThreshold,
           }),
+          mScreenStillnessDetector(StillnessDetector::Options{
+                  .windowDuration = options.screenStillnessWindowDuration,
+                  .translationalThreshold = options.screenStillnessTranslationalThreshold,
+                  .rotationalThreshold = options.screenStillnessRotationalThreshold,
+          }),
           mModeSelector(ModeSelector::Options{.freshnessTimeout = options.freshnessTimeout},
                         initialMode),
           mRateLimiter(PoseRateLimiter::Options{
@@ -83,6 +88,22 @@
     }
 
     void calculate(int64_t timestamp) override {
+        // Handle the screen first, since it might trigger a recentering of the head.
+        if (mWorldToScreenTimestamp.has_value()) {
+            const Pose3f worldToLogicalScreen = mScreenPoseDriftCompensator.getOutput();
+            mScreenStillnessDetector.setInput(mWorldToScreenTimestamp.value(),
+                                              worldToLogicalScreen);
+            bool screenStable = mScreenStillnessDetector.calculate(timestamp);
+            mModeSelector.setScreenStable(mWorldToScreenTimestamp.value(), screenStable);
+            // Whenever the screen is unstable, recenter the head pose.
+            if (!screenStable) {
+                recenter(true, false);
+            }
+            mScreenHeadFusion.setWorldToScreenPose(mWorldToScreenTimestamp.value(),
+                                                   worldToLogicalScreen);
+        }
+
+        // Handle head.
         if (mWorldToHeadTimestamp.has_value()) {
             Pose3f worldToHead = mHeadPoseDriftCompensator.getOutput();
             mHeadStillnessDetector.setInput(mWorldToHeadTimestamp.value(), worldToHead);
@@ -96,12 +117,6 @@
             mModeSelector.setWorldToHeadPose(mWorldToHeadTimestamp.value(), worldToHead);
         }
 
-        if (mWorldToScreenTimestamp.has_value()) {
-            const Pose3f worldToLogicalScreen = mScreenPoseDriftCompensator.getOutput();
-            mScreenHeadFusion.setWorldToScreenPose(mWorldToScreenTimestamp.value(),
-                                                   worldToLogicalScreen);
-        }
-
         auto maybeScreenToHead = mScreenHeadFusion.calculate();
         if (maybeScreenToHead.has_value()) {
             mModeSelector.setScreenToHeadPose(maybeScreenToHead->timestamp,
@@ -131,6 +146,7 @@
         }
         if (recenterScreen) {
             mScreenPoseDriftCompensator.recenter();
+            mScreenStillnessDetector.reset();
         }
 
         // If a sensor being recentered is included in the current mode, apply rate limiting to
@@ -155,6 +171,7 @@
     PoseDriftCompensator mHeadPoseDriftCompensator;
     PoseDriftCompensator mScreenPoseDriftCompensator;
     StillnessDetector mHeadStillnessDetector;
+    StillnessDetector mScreenStillnessDetector;
     ScreenHeadFusion mScreenHeadFusion;
     ModeSelector mModeSelector;
     PoseRateLimiter mRateLimiter;
diff --git a/media/libheadtracking/ModeSelector-test.cpp b/media/libheadtracking/ModeSelector-test.cpp
index 6247d84..a136e6b 100644
--- a/media/libheadtracking/ModeSelector-test.cpp
+++ b/media/libheadtracking/ModeSelector-test.cpp
@@ -44,6 +44,7 @@
     ModeSelector selector(options, HeadTrackingMode::WORLD_RELATIVE);
 
     selector.setWorldToHeadPose(0, worldToHead);
+    selector.setScreenStable(0, true);
     selector.calculate(0);
     EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
     EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse());
@@ -69,14 +70,46 @@
     ModeSelector selector(options);
 
     selector.setScreenToStagePose(screenToStage);
-
     selector.setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);
     selector.setWorldToHeadPose(0, worldToHead);
+    selector.setScreenStable(0, true);
     selector.calculate(0);
     EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
     EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse() * screenToStage);
 }
 
+TEST(ModeSelector, WorldRelativeUnstable) {
+    const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom());
+    const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
+
+    ModeSelector::Options options{.freshnessTimeout = 100};
+    ModeSelector selector(options);
+
+    selector.setScreenToStagePose(screenToStage);
+    selector.setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);
+    selector.setWorldToHeadPose(0, worldToHead);
+    selector.setScreenStable(0, false);
+    selector.calculate(10);
+    EXPECT_EQ(HeadTrackingMode::STATIC, selector.getActualMode());
+    EXPECT_EQ(selector.getHeadToStagePose(), screenToStage);
+}
+
+TEST(ModeSelector, WorldRelativeStableStale) {
+    const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom());
+    const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
+
+    ModeSelector::Options options{.freshnessTimeout = 100};
+    ModeSelector selector(options);
+
+    selector.setScreenToStagePose(screenToStage);
+    selector.setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);
+    selector.setWorldToHeadPose(100, worldToHead);
+    selector.setScreenStable(0, true);
+    selector.calculate(101);
+    EXPECT_EQ(HeadTrackingMode::STATIC, selector.getActualMode());
+    EXPECT_EQ(selector.getHeadToStagePose(), screenToStage);
+}
+
 TEST(ModeSelector, WorldRelativeStale) {
     const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom());
     const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
@@ -85,7 +118,6 @@
     ModeSelector selector(options);
 
     selector.setScreenToStagePose(screenToStage);
-
     selector.setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);
     selector.setWorldToHeadPose(0, worldToHead);
     selector.calculate(101);
@@ -101,7 +133,6 @@
     ModeSelector selector(options);
 
     selector.setScreenToStagePose(screenToStage);
-
     selector.setDesiredMode(HeadTrackingMode::SCREEN_RELATIVE);
     selector.setScreenToHeadPose(0, screenToHead);
     selector.calculate(0);
@@ -118,10 +149,10 @@
     ModeSelector selector(options);
 
     selector.setScreenToStagePose(screenToStage);
-
     selector.setDesiredMode(HeadTrackingMode::SCREEN_RELATIVE);
     selector.setScreenToHeadPose(0, screenToHead);
     selector.setWorldToHeadPose(50, worldToHead);
+    selector.setScreenStable(50, true);
     selector.calculate(101);
     EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
     EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse() * screenToStage);
@@ -139,6 +170,7 @@
     selector.setDesiredMode(HeadTrackingMode::SCREEN_RELATIVE);
     selector.setScreenToHeadPose(50, std::nullopt);
     selector.setWorldToHeadPose(50, worldToHead);
+    selector.setScreenStable(50, true);
     selector.calculate(101);
     EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
     EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse() * screenToStage);
diff --git a/media/libheadtracking/ModeSelector.cpp b/media/libheadtracking/ModeSelector.cpp
index 16e1712..cb3a27f 100644
--- a/media/libheadtracking/ModeSelector.cpp
+++ b/media/libheadtracking/ModeSelector.cpp
@@ -41,11 +41,18 @@
     mWorldToHeadTimestamp = timestamp;
 }
 
+void ModeSelector::setScreenStable(int64_t timestamp, bool stable) {
+    mScreenStable = stable;
+    mScreenStableTimestamp = timestamp;
+}
+
 void ModeSelector::calculateActualMode(int64_t timestamp) {
     bool isValidScreenToHead = mScreenToHead.has_value() &&
                                timestamp - mScreenToHeadTimestamp < mOptions.freshnessTimeout;
     bool isValidWorldToHead = mWorldToHead.has_value() &&
                               timestamp - mWorldToHeadTimestamp < mOptions.freshnessTimeout;
+    bool isValidScreenStable = mScreenStable.has_value() &&
+                              timestamp - mScreenStableTimestamp < mOptions.freshnessTimeout;
 
     HeadTrackingMode mode = mDesiredMode;
 
@@ -58,7 +65,7 @@
 
     // Optional downgrade from world-relative to static.
     if (mode == HeadTrackingMode::WORLD_RELATIVE) {
-        if (!isValidWorldToHead) {
+        if (!isValidWorldToHead || !isValidScreenStable || !mScreenStable.value()) {
             mode = HeadTrackingMode::STATIC;
         }
     }
diff --git a/media/libheadtracking/ModeSelector.h b/media/libheadtracking/ModeSelector.h
index 17a5142..e537040 100644
--- a/media/libheadtracking/ModeSelector.h
+++ b/media/libheadtracking/ModeSelector.h
@@ -56,6 +56,7 @@
  *   from screen-relative to world-relative.
  * - When we cannot get a fresh estimate of the world-to-head pose, we will fall back from
  *   world-relative to static.
+ * - In world-relative mode, if the screen is unstable, we will fall back to static.
  *
  * All the timestamps used here are of arbitrary units and origin. They just need to be consistent
  * between all the calls and with the Options provided for determining freshness and rate limiting.
@@ -92,6 +93,12 @@
     void setWorldToHeadPose(int64_t timestamp, const Pose3f& worldToHead);
 
     /**
+     * Set whether the screen is considered stable.
+     * The timestamp needs to reflect how fresh the sample is.
+     */
+     void setScreenStable(int64_t timestamp, bool stable);
+
+    /**
      * Process all the previous inputs and update the outputs.
      */
     void calculate(int64_t timestamp);
@@ -116,6 +123,8 @@
     int64_t mScreenToHeadTimestamp;
     std::optional<Pose3f> mWorldToHead;
     int64_t mWorldToHeadTimestamp;
+    std::optional<bool> mScreenStable;
+    int64_t mScreenStableTimestamp;
 
     HeadTrackingMode mActualMode;
     Pose3f mHeadToStage;
diff --git a/media/libheadtracking/include/media/HeadTrackingProcessor.h b/media/libheadtracking/include/media/HeadTrackingProcessor.h
index c90b57c..2af560e 100644
--- a/media/libheadtracking/include/media/HeadTrackingProcessor.h
+++ b/media/libheadtracking/include/media/HeadTrackingProcessor.h
@@ -45,6 +45,9 @@
         int64_t autoRecenterWindowDuration = std::numeric_limits<int64_t>::max();
         float autoRecenterTranslationalThreshold = std::numeric_limits<float>::infinity();
         float autoRecenterRotationalThreshold = std::numeric_limits<float>::infinity();
+        int64_t screenStillnessWindowDuration = 0;
+        float screenStillnessTranslationalThreshold = std::numeric_limits<float>::infinity();
+        float screenStillnessRotationalThreshold = std::numeric_limits<float>::infinity();
     };
 
     /** Sets the desired head-tracking mode. */
diff --git a/services/audiopolicy/service/SpatializerPoseController.cpp b/services/audiopolicy/service/SpatializerPoseController.cpp
index 04b0a4a..80a3d29 100644
--- a/services/audiopolicy/service/SpatializerPoseController.cpp
+++ b/services/audiopolicy/service/SpatializerPoseController.cpp
@@ -52,7 +52,7 @@
 // determine the time constants used for high-pass filtering those readings. If the value is set
 // too high, we may experience drift. If it is set too low, we may experience poses tending toward
 // identity too fast.
-constexpr auto kRotationalDriftTimeConstant = 40s;
+constexpr auto kRotationalDriftTimeConstant = 60s;
 
 // This is how far into the future we predict the head pose, using linear extrapolation based on
 // twist (velocity). It should be set to a value that matches the characteristic durations of moving
@@ -73,6 +73,16 @@
 // Auto-recenter considers head not still if rotated by this much (in radians, approx).
 constexpr float kAutoRecenterRotationThreshold = 5.0f / 180 * M_PI;
 
+// Screen is considered to be unstable (not still) if it has moved significantly within the last
+// time window of this duration.
+constexpr auto kScreenStillnessWindowDuration = 10s;
+
+// Screen is considered to have moved significantly if translated by this much (in meter, approx).
+constexpr float kScreenStillnessTranslationThreshold = 0.1f;
+
+// Screen is considered to have moved significantly if rotated by this much (in radians, approx).
+constexpr float kScreenStillnessRotationThreshold = 5.0f / 180 * M_PI;
+
 // Time units for system clock ticks. This is what the Sensor Framework timestamps represent and
 // what we use for pose filtering.
 using Ticks = std::chrono::nanoseconds;
@@ -90,13 +100,17 @@
       mProcessor(createHeadTrackingProcessor(HeadTrackingProcessor::Options{
               .maxTranslationalVelocity = kMaxTranslationalVelocity / kTicksPerSecond,
               .maxRotationalVelocity = kMaxRotationalVelocity / kTicksPerSecond,
-              .translationalDriftTimeConstant = Ticks(kTranslationalDriftTimeConstant).count(),
-              .rotationalDriftTimeConstant = Ticks(kRotationalDriftTimeConstant).count(),
+              .translationalDriftTimeConstant =
+                      double(Ticks(kTranslationalDriftTimeConstant).count()),
+              .rotationalDriftTimeConstant = double(Ticks(kRotationalDriftTimeConstant).count()),
               .freshnessTimeout = Ticks(sensorPeriod * kMaxLostSamples).count(),
               .predictionDuration = Ticks(kPredictionDuration).count(),
               .autoRecenterWindowDuration = Ticks(kAutoRecenterWindowDuration).count(),
               .autoRecenterTranslationalThreshold = kAutoRecenterTranslationThreshold,
               .autoRecenterRotationalThreshold = kAutoRecenterRotationThreshold,
+              .screenStillnessWindowDuration = Ticks(kScreenStillnessWindowDuration).count(),
+              .screenStillnessTranslationalThreshold = kScreenStillnessTranslationThreshold,
+              .screenStillnessRotationalThreshold = kScreenStillnessRotationThreshold,
       })),
       mPoseProvider(SensorPoseProvider::create("headtracker", this)),
       mThread([this, maxUpdatePeriod] {