source: flair-src/tags/latest/lib/FlairFilter/src/Gx3_25_ahrs.cpp @ 451

Last change on this file since 451 was 268, checked in by Sanahuja Guillaume, 3 years ago

add defines for architectures to speed up compile time

File size: 1.4 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5//  created:    2013/01/16
6//  filename:   Gx3_25_ahrs.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    class for 3dmgx3-25 ahrs
14//
15//
16/*********************************************************************/
17#ifdef ARMV7A
18
19#include "Gx3_25_ahrs.h"
20#include <AhrsData.h>
21#include <OneAxisRotation.h>
22
23using std::string;
24using namespace flair::core;
25using namespace flair::sensor;
26
27namespace flair {
28namespace filter {
29
30Gx3_25_ahrs::Gx3_25_ahrs(string name,
31                         SerialPort *serialport, Gx3_25_imu::Command_t command,
32                         uint8_t priority)
33    : Ahrs(new Gx3_25_imu( "imu", serialport, command, priority), name) {
34
35  SetIsReady(true);
36}
37
38Gx3_25_ahrs::~Gx3_25_ahrs() {}
39
40// datas outputed from Gx3_25_imu are AhrsData!
41void Gx3_25_ahrs::UpdateFrom(const io_data *data) {
42  AhrsData *input = (AhrsData *)data;
43  AhrsData *output;
44  GetDatas(&output);
45
46  Quaternion quaternion;
47  Vector3Df filteredAngRates;
48  input->GetQuaternionAndAngularRates(quaternion, filteredAngRates);
49  output->SetQuaternionAndAngularRates(quaternion, filteredAngRates);
50  output->SetDataTime(input->DataTime());
51
52  ProcessUpdate(output);
53}
54
55} // end namespace filter
56} // end namespace flair
57
58#endif
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