Replacing drift word by offset.

1 files changed, 6 insertions, 8 deletions

diff --git a/src/argaze/utils/tobii_stream_arcube_display.py b/src/argaze/utils/tobii_stream_arcube_display.py
index d307206..9cd89d9 100644
--- a/src/argaze/utils/tobii_stream_arcube_display.py
+++ b/src/argaze/utils/tobii_stream_arcube_display.py
@@ -111,7 +111,7 @@ def main():
     '''
     last_gyroscope = numpy.zeros(3)
     last_gyroscope_ts_ms = 0
-    gyroscope_drift = numpy.zeros(3)
+    gyroscope_offset = numpy.zeros(3)
     head_rotation = numpy.zeros(3)
     smooth_factor = 0.5
 
@@ -134,7 +134,7 @@ def main():
 
                 nonlocal last_gyroscope
                 nonlocal last_gyroscope_ts_ms
-                nonlocal gyroscope_drift
+                nonlocal gyroscope_offset
                 nonlocal head_rotation
 
                 # Convert deg/s into deg/ms
@@ -150,16 +150,14 @@ def main():
                 delta_time = data_ts_ms - last_gyroscope_ts_ms
                 gyroscope_derivation = (current_gyroscope - last_gyroscope) / delta_time if delta_time > 0 else numpy.zeros(3)
 
-                # Update gyroscope drift smoothly and reset head rotation when gyroscope is stable
+                # Update gyroscope offset smoothly and reset head rotation when gyroscope is stable
                 if numpy.linalg.norm(gyroscope_derivation) < 1e-5:
                 
-                    gyroscope_drift = gyroscope_drift * smooth_factor + current_gyroscope * (1 - smooth_factor) 
+                    gyroscope_offset = gyroscope_offset * smooth_factor + current_gyroscope * (1 - smooth_factor) 
                     head_rotation = numpy.zeros(3)
 
-                    print(f'> gyroscope_drift={gyroscope_drift}')
-
-                # Integrate gyroscope with drift compensation
-                head_rotation += (last_gyroscope - gyroscope_drift) * delta_time
+                # Integrate gyroscope with offset compensation
+                head_rotation += (last_gyroscope - gyroscope_offset) * delta_time
 
                 # Store current as last
                 last_gyroscope = current_gyroscope