diff --git a/doc-dev/user-guide.md b/doc-dev/user-guide.md
index b50ea8a35..5d3873c28 100644
--- a/doc-dev/user-guide.md
+++ b/doc-dev/user-guide.md
@@ -714,7 +714,7 @@ setVar qActive 1
 
 // toggle fn layer and keep it active for 5 seconds or until some recordKey instance starts recording a macro
 toggleLayer fn                                                   
-ifNotRecording ifNotPlaytime 5000 if ($qActive) goTo @0          
+ifNotRecording ifNotPlaytime 5000 if ($qActive) goTo $currentAddress
 untoggleLayer
 setVar qActive 0
 ```
diff --git a/right/src/debug.c b/right/src/debug.c
index 6bd9eb87a..2b97117df 100644
--- a/right/src/debug.c
+++ b/right/src/debug.c
@@ -3,14 +3,12 @@
 
 #ifdef WATCHES
 
-#include "led_display.h"
 #include "timer.h"
 #include "key_states.h"
 #include <limits.h>
 #include "usb_interfaces/usb_interface_basic_keyboard.h"
-#include "macros/core.h"
 #include "macros/status_buffer.h"
-#include "keymap.h"
+#include "segment_display.h"
 
 uint8_t CurrentWatch = 0;
 
@@ -140,4 +138,43 @@ void WatchValueMax(int v, uint8_t n)
 }
 
 
+void WatchFloatValue(float v, uint8_t n)
+{
+    if (CurrentTime - lastWatch > watchInterval) {
+        SegmentDisplay_SetFloat(v, SegmentDisplaySlot_Debug);
+        lastWatch = CurrentTime;
+    }
+}
+
+void WatchFloatValueMin(float v, uint8_t n)
+{
+    static float m = 0;
+
+    if (v < m) {
+        m = v;
+    }
+
+    if (CurrentTime - lastWatch > watchInterval) {
+        SegmentDisplay_SetFloat(m, SegmentDisplaySlot_Debug);
+        lastWatch = CurrentTime;
+        m = (float)INT_MAX;
+    }
+}
+
+void WatchFloatValueMax(float v, uint8_t n)
+{
+    static float m = 0;
+
+    if (v > m) {
+        m = v;
+    }
+
+    if (CurrentTime - lastWatch > watchInterval) {
+        SegmentDisplay_SetFloat(m, SegmentDisplaySlot_Debug);
+        lastWatch = CurrentTime;
+        m = (float)INT_MIN;
+    }
+}
+
+
 #endif
diff --git a/right/src/debug.h b/right/src/debug.h
index c6c9e152d..5b0a23cdd 100644
--- a/right/src/debug.h
+++ b/right/src/debug.h
@@ -2,6 +2,7 @@
 #define WATCHES
 #endif
 
+
 #ifdef WATCHES
 #ifndef SRC_UTILS_DBG_H_
 #define SRC_UTILS_DBG_H_
@@ -41,6 +42,15 @@
     // Watches value V in slot N.
     #define WATCH_VALUE_MAX(V, N) if(CurrentWatch == N) { WatchValueMax(V, N); }
 
+    // Watches value V in slot N.
+    #define WATCH_FLOAT_VALUE(V, N) if(CurrentWatch == N) { WatchFloatValue(V, N); }
+
+    // Watches value V in slot N.
+    #define WATCH_FLOAT_VALUE_MIN(V, N) if(CurrentWatch == N) { WatchFloatValueMin(V, N); }
+
+    // Watches value V in slot N.
+    #define WATCH_FLOAT_VALUE_MAX(V, N) if(CurrentWatch == N) { WatchFloatValueMax(V, N); }
+
     // Watches string V in slot N.
     #define WATCH_STRING(V, N) if(CurrentWatch == N) { WatchString(V, N); }
 
@@ -71,6 +81,9 @@
     void WatchValue(int v, uint8_t n);
     void WatchValueMin(int v, uint8_t n);
     void WatchValueMax(int v, uint8_t n);
+    void WatchFloatValue(float v, uint8_t n);
+    void WatchFloatValueMin(float, uint8_t n);
+    void WatchFloatValueMax(float, uint8_t n);
     void WatchString(char const * v, uint8_t n);
     void ShowValue(int v, uint8_t n);
     void ShowString(char const * v, uint8_t n);
@@ -89,6 +102,9 @@
     #define WATCH_VALUE(V, N)
     #define WATCH_VALUE_MIN(V, N)
     #define WATCH_VALUE_MAX(V, N)
+    #define WATCH_FLOAT_VALUE(V, N)
+    #define WATCH_FLOAT_VALUE_MIN(V, N)
+    #define WATCH_FLOAT_VALUE_MAX(V, N)
     #define WATCH_STRING(V, N)
     #define SHOW_STRING(V, N)
     #define SHOW_VALUE(V, N)
diff --git a/right/src/mouse_controller.c b/right/src/mouse_controller.c
index e602ecb0e..ce54eb9bc 100644
--- a/right/src/mouse_controller.c
+++ b/right/src/mouse_controller.c
@@ -1,16 +1,11 @@
 #include <math.h>
 #include "key_action.h"
-#include "led_display.h"
 #include "layer.h"
+#include "slave_protocol.h"
 #include "usb_interfaces/usb_interface_mouse.h"
-#include "peripherals/test_led.h"
-#include "slave_drivers/is31fl3xxx_driver.h"
 #include "slave_drivers/uhk_module_driver.h"
 #include "timer.h"
 #include "config_parser/parse_keymap.h"
-#include "usb_commands/usb_command_get_debug_buffer.h"
-#include "arduino_hid/ConsumerAPI.h"
-#include "secondary_role_driver.h"
 #include "slave_drivers/touchpad_driver.h"
 #include "mouse_controller.h"
 #include "mouse_keys.h"
@@ -18,12 +13,9 @@
 #include "layer_switcher.h"
 #include "usb_report_updater.h"
 #include "caret_config.h"
-#include "keymap.h"
-#include "macros/core.h"
 #include "debug.h"
 #include "postponer.h"
 #include "layer.h"
-#include "secondary_role_driver.h"
 
 typedef struct {
     float x;
@@ -709,6 +701,7 @@ void MouseController_ProcessMouseActions()
 
     for (uint8_t moduleSlotId=0; moduleSlotId<UHK_MODULE_MAX_SLOT_COUNT; moduleSlotId++) {
         uhk_module_state_t *moduleState = UhkModuleStates + moduleSlotId;
+
         if (moduleState->moduleId == ModuleId_Unavailable || moduleState->pointerCount == 0) {
             continue;
         }
diff --git a/right/src/segment_display.c b/right/src/segment_display.c
index 687792aa9..1756e5071 100644
--- a/right/src/segment_display.c
+++ b/right/src/segment_display.c
@@ -117,6 +117,7 @@ void SegmentDisplay_SerializeFloat(char* buffer, float num)
 {
     if (num <= -10.0f || 10.0f <= num ) {
         SegmentDisplay_SerializeInt(buffer, num);
+        return;
     }
 
     int mag = 0;
@@ -127,7 +128,7 @@ void SegmentDisplay_SerializeFloat(char* buffer, float num)
         negative = true;
     }
 
-    while (num < 10.0f) {
+    while (num < 10.0f && mag < 10) {
         mag++;
         num *= 10;
     }
@@ -178,6 +179,13 @@ void SegmentDisplay_SetInt(int32_t a, segment_display_slot_t slot)
     SegmentDisplay_SetText(3, b, slot);
 }
 
+void SegmentDisplay_SetFloat(float a, segment_display_slot_t slot)
+{
+    char b[3];
+    SegmentDisplay_SerializeFloat(b, a);
+    SegmentDisplay_SetText(3, b, slot);
+}
+
 bool SegmentDisplay_SlotIsActive(segment_display_slot_t slot)
 {
     return slots[slot].active;
diff --git a/right/src/segment_display.h b/right/src/segment_display.h
index c0959beb8..1ae37e292 100644
--- a/right/src/segment_display.h
+++ b/right/src/segment_display.h
@@ -5,7 +5,6 @@
 
     #include <stdint.h>
     #include <stdbool.h>
-    #include "timer.h"
     #include "macros/vars.h"
 
 // Macros:
@@ -36,6 +35,7 @@
     void SegmentDisplay_Update();
     void SegmentDisplay_SetText(uint8_t len, const char* text, segment_display_slot_t slot);
     void SegmentDisplay_SetInt(int32_t a, segment_display_slot_t slot);
+    void SegmentDisplay_SetFloat(float a, segment_display_slot_t slot);
     void SegmentDisplay_SerializeInt(char* buffer, int32_t a);
     void SegmentDisplay_SerializeFloat(char* buffer, float f);
     void SegmentDisplay_SerializeVar(char* buffer, macro_variable_t var);
diff --git a/right/src/slave_drivers/uhk_module_driver.c b/right/src/slave_drivers/uhk_module_driver.c
index c70da712a..2980bd02f 100644
--- a/right/src/slave_drivers/uhk_module_driver.c
+++ b/right/src/slave_drivers/uhk_module_driver.c
@@ -362,6 +362,7 @@ slave_result_t UhkModuleSlaveDriver_Update(uint8_t uhkModuleDriverId)
                     pointer_delta_t *pointerDelta = (pointer_delta_t*)(rxMessage->data + keyStatesLength);
                     uhkModuleState->pointerDelta.x += pointerDelta->x;
                     uhkModuleState->pointerDelta.y += pointerDelta->y;
+                    uhkModuleState->pointerDelta.debugInfo = pointerDelta->debugInfo;
                 }
             }
             res.status = kStatus_Uhk_IdleCycle;
diff --git a/shared/module/slave_protocol_handler.c b/shared/module/slave_protocol_handler.c
index 77b6a0be0..42be2766e 100644
--- a/shared/module/slave_protocol_handler.c
+++ b/shared/module/slave_protocol_handler.c
@@ -134,6 +134,7 @@ void SlaveTxHandler(void)
                 // (This handler can be interrupted by sensor interrupts.)
                 pointerDelta->x = PointerDelta.x;
                 pointerDelta->y = PointerDelta.y;
+                pointerDelta->debugInfo = PointerDelta.debugInfo;
                 PointerDelta.x = 0;
                 PointerDelta.y = 0;
                 __enable_irq();
diff --git a/shared/slave_protocol.h b/shared/slave_protocol.h
index d18192fbe..518d1a5ed 100644
--- a/shared/slave_protocol.h
+++ b/shared/slave_protocol.h
@@ -64,9 +64,13 @@
         uint8_t data[I2C_MESSAGE_MAX_PAYLOAD_LENGTH];
     } ATTR_PACKED i2c_message_t;
 
+    typedef struct {
+    } ATTR_PACKED pointer_debug_info_t;
+
     typedef struct {
         int16_t x;
         int16_t y;
+        pointer_debug_info_t debugInfo;
     } ATTR_PACKED pointer_delta_t;
 
 // Variables:
diff --git a/trackpoint/src/module.c b/trackpoint/src/module.c
index 58f3f6d39..0efde035b 100644
--- a/trackpoint/src/module.c
+++ b/trackpoint/src/module.c
@@ -1,5 +1,6 @@
 #include "fsl_gpio.h"
 #include "module.h"
+#include <stdint.h>
 
 pointer_delta_t PointerDelta;
 
@@ -147,7 +148,62 @@ static bool readByte()
     return false;
 }
 
-void PS2_CLOCK_IRQ_HANDLER(void) {
+#define AXIS_COUNT 2
+#define WINDOW_LENGTH 16
+#define ABS(x) ((x) < 0 ? -(x) : (x))
+#define DRIFT_RESET_PERIOD 2000
+#define TRACKPOINT_UPDATE_PERIOD 10
+#define DRIFT_TOLERANCE 1
+
+static uint16_t window[AXIS_COUNT][WINDOW_LENGTH];
+static uint8_t windowIndex = 0;
+static uint16_t windowSum[AXIS_COUNT];
+
+void recognizeDrifts(int16_t x, int16_t y)
+{
+    uint16_t deltas[AXIS_COUNT] = {ABS(x), ABS(y)};
+
+    // compute average speed across the window
+    for (uint8_t axis=0; axis<AXIS_COUNT; axis++) {
+        windowSum[axis] -= window[axis][windowIndex];
+        window[axis][windowIndex] = deltas[axis];
+        windowSum[axis] += window[axis][windowIndex];
+    }
+
+    windowIndex = (windowIndex + 1) % WINDOW_LENGTH;
+
+    // check whether current speed matches remembered "drift" speed
+    static uint16_t supposedDrift[AXIS_COUNT] = {0, 0};
+    static uint16_t driftLength = 0;
+    bool drifting = true;
+    for (uint8_t axis=0; axis<AXIS_COUNT; axis++) {
+        if (ABS(windowSum[axis] - supposedDrift[axis]) > DRIFT_TOLERANCE + 1) {
+            drifting = false;
+        }
+    }
+
+    if (windowSum[0] < 1 && windowSum[1] < 1) {
+        drifting = false;
+    }
+
+    // handle drift detection logic
+    if (drifting) {
+        driftLength++;
+        if (driftLength > DRIFT_RESET_PERIOD / TRACKPOINT_UPDATE_PERIOD) {
+            driftLength = 0;
+            shouldReset = true;
+        }
+    } else {
+        driftLength = 0;
+        for (uint8_t axis=0; axis<AXIS_COUNT; axis++) {
+            supposedDrift[axis] = windowSum[axis];
+        }
+    }
+}
+
+
+void PS2_CLOCK_IRQ_HANDLER(void)
+{
     static uint8_t byte1 = 0;
     static uint16_t deltaX = 0;
     static uint16_t deltaY = 0;
@@ -260,7 +316,11 @@ void PS2_CLOCK_IRQ_HANDLER(void) {
                     PointerDelta.y -= deltaY;
                     lastX = deltaX;
                     lastY = deltaY;
+
+                    recognizeDrifts(deltaX, deltaY);
                 } else {
+                    // If there was error then current data is not relevant.
+                    // We use the last delta as an approximation.
                     PointerDelta.x -= lastX;
                     PointerDelta.y -= lastY;
                 }