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-rw-r--r--src/argaze/utils/tobii_stream_arcube_display.py14
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