Last change
on this file since 197 was 157, checked in by Sanahuja Guillaume, 8 years ago |
iadded isready to iodevice:
avoid problem of imu not ready in ardrone2
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File size:
1.1 KB
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1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | // created: 2014/01/15
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6 | // filename: AhrsKalman.cpp
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7 | //
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8 | // author: Guillaume Sanahuja
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9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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10 | //
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11 | // version: $Id: $
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12 | //
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13 | // purpose: Class defining an Ahrs Kalman filter
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14 | //
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15 | //
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16 | /*********************************************************************/
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17 |
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18 | #include "AhrsKalman.h"
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19 | #include "AhrsKalman_impl.h"
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20 | #include <Imu.h>
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21 | #include <AhrsData.h>
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22 |
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23 | using std::string;
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24 | using namespace flair::core;
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25 | using namespace flair::sensor;
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26 |
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27 | namespace flair { namespace filter {
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28 |
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29 | AhrsKalman::AhrsKalman(const Imu* parent,string name): Ahrs(parent,name) {
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30 | AhrsData* ahrsData;
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31 | GetDatas(&ahrsData);
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32 | pimpl_=new AhrsKalman_impl(parent->GetLayout(),ahrsData);
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33 |
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34 | SetIsReady(true);
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35 | }
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36 |
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37 | AhrsKalman::~AhrsKalman() {
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38 | delete pimpl_;
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39 | }
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40 |
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41 | void AhrsKalman::UpdateFrom(const io_data *data) {
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42 | pimpl_->UpdateFrom(data);
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43 | AhrsData* ahrsData;
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44 | GetDatas(&ahrsData);
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45 | ProcessUpdate(ahrsData);
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46 | }
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47 |
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48 | } // end namespace filter
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49 | } // end namespace flair
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