[24] | 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 |
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| 6 | // created: 2014/04/28
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| 7 | // filename: AhrsComplementaryFilter.cpp
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| 8 | //
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| 9 | // authors: Augustin Manecy (RT-MaG Toolbox author, augustin.manecy@gmail.com)
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| 10 | // API changes by Guillaume Sanahuja to fit the Flair framework
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| 11 | //
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| 12 | // version: $Id: $
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| 13 | //
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| 14 | // purpose: Class defining an Ahrs complementary filter
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| 15 | //
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| 16 | //
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| 17 | /*********************************************************************/
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| 18 |
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| 19 | #include "AhrsComplementaryFilter.h"
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| 20 | #include <Imu.h>
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| 21 | #include <DoubleSpinBox.h>
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[198] | 22 | #include <Vector3DSpinBox.h>
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[24] | 23 | #include <GridLayout.h>
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| 24 | #include <ImuData.h>
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| 25 | #include <AhrsData.h>
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| 26 | #include <math.h>
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| 27 |
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| 28 | #define G 9.81
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| 29 |
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| 30 | using std::string;
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| 31 | using namespace flair::core;
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| 32 | using namespace flair::gui;
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| 33 | using namespace flair::sensor;
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| 34 |
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| 35 | namespace flair { namespace filter {
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| 36 |
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[223] | 37 | AhrsComplementaryFilter::AhrsComplementaryFilter(const Imu* parent,string name): Ahrs(parent,name) {
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[24] | 38 |
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[198] | 39 | QHat.q0=1;
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| 40 | QHat.q1=0;
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| 41 | QHat.q2=0;
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| 42 | QHat.q3=0;
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| 43 | BHat.x=0;
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| 44 | BHat.y=0;
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| 45 | BHat.z=0;
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[24] | 46 |
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[198] | 47 | ka[0]=new DoubleSpinBox(parent->GetLayout()->NewRow(),"ka[0]:",0.,10,0.1,2,0.5);
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| 48 | ka[1]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"ka[1]:",0.,10,0.1,2,0.5);
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| 49 | ka[2]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"ka[2]:",0.,10.,0.1,2,0.);
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[24] | 50 |
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[198] | 51 | kb[0]=new DoubleSpinBox(parent->GetLayout()->NewRow(),"kb[0]:",0.,10,0.1,2,0.01);
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| 52 | kb[1]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"kb[1]:",0.,10,0.1,2,0.01);
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| 53 | kb[2]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"kb[2]:",0.,10,0.1,2,0.01);
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| 54 |
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| 55 | //put km to [0,0,0] to disable magnetometers
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| 56 | km[0]=new DoubleSpinBox(parent->GetLayout()->NewRow(),"km[0]:",0.,50,0.1,2,0.01);
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| 57 | km[1]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"km[1]:",0.,50,0.1,2,0.01);
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| 58 | km[2]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"km[2]:",0.,50,0.1,2,0.01);
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[157] | 59 |
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[198] | 60 | magRef=new Vector3DSpinBox(parent->GetLayout()->NewRow(),"ref magnetic field (uT)",
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| 61 | 0, 100, 1,
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| 62 | 3,Vector3Df(20.5324,.2367,43.6682)); //Compiegne, France
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[157] | 63 | SetIsReady(true);
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[24] | 64 | }
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| 65 |
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| 66 | AhrsComplementaryFilter::~AhrsComplementaryFilter() {
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| 67 |
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| 68 | }
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| 69 |
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| 70 | void AhrsComplementaryFilter::UpdateFrom(const io_data *data) {
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| 71 | ImuData *input=(ImuData*)data;
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| 72 | float delta_t;
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| 73 | AhrsData* ahrsData;
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| 74 | GetDatas(&ahrsData);
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[167] | 75 | Vector3Df rawAcc,rawMag,rawGyr;
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[24] | 76 | input->GetRawAccMagAndGyr(rawAcc,rawMag,rawGyr);
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| 77 |
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[223] | 78 | delta_t=(float)(data->DataDeltaTime())/1000000000.;
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[24] | 79 |
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[167] | 80 | Vector3Df aBar,aHat,aTilde;
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| 81 | Vector3Df mBar,mHat,mTilde;
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[197] | 82 | Vector3Df alpha,dBHat,omegaHat,magRef;
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[24] | 83 | Quaternion dQHat;
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| 84 |
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| 85 | //float ka[3]={0.5,0.5,0};
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| 86 | //float kb[3]={0.01,0.01,0.01};
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[197] | 87 | //float k_m[3]= {0,0,0};
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[198] | 88 | magRef=this->magRef->Value();
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[24] | 89 |
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[223] | 90 | if(delta_t!=0) {
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[197] | 91 | // CORRECTION FROM ACCELEROMETER
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[24] | 92 | aBar = rawAcc;
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| 93 |
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| 94 | // estimation of IMU vector using QHat (estimated quaternion): aHat = Inv(QHat) * g
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| 95 | /*
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| 96 | Inv(QHat) = [q0 -q1 -q2 -q3]'
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| 97 | Inv(QHat)*g = [1-2(q2^2+q3^2) 2(q1q2+q0q3) 2(q1q3-q0q2)] [0]
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| 98 | [ 2(q1q2-q0q3) 1-2(q1^2+q3^2)) 2(q2q3+q0q1)] * [0]
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| 99 | [ 2(q1q3+q0q2) 2(q2q3-q0q1) 1-2(q1^2+q2^2)] [g]
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| 100 | */
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| 101 | aHat.x = -2*G*(QHat.q1*QHat.q3 - QHat.q0*QHat.q2);
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| 102 | aHat.y = -2*G*(QHat.q2*QHat.q3 + QHat.q0*QHat.q1);
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| 103 | aHat.z = -G*(1-2.0*(QHat.q1*QHat.q1 + QHat.q2*QHat.q2));
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| 104 |
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| 105 | // cross(aHat, aBar)
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| 106 | aTilde=CrossProduct(aHat, aBar);
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| 107 |
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[197] | 108 |
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| 109 | // CORRECTION FROM MAGNETOMETER
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| 110 | // estimation of IMU vector using QHat (estimated quaternion): mHat = Inv(QHat) * m_ref = Inv(QHat) * magRef
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[24] | 111 | /*
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| 112 | Inv(QHat) = [q0 -q1 -q2 -q3]'
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[197] | 113 | Inv(QHat)*g = [1-2(q2^2+q3^2) 2(q1q2+q0q3) 2(q1q3-q0q2)] [magRef.x]
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| 114 | [ 2(q1q2-q0q3) 1-2(q1^2+q3^2)) 2(q2q3+q0q1)] * [magRef.x]
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| 115 | [ 2(q1q3+q0q2) 2(q2q3-q0q1) 1-2(q1^2+q2^2)] [magRef.x]
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[24] | 116 | */
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[197] | 117 | mBar=rawMag;
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| 118 |
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| 119 | mHat.x = (1-2.0*(QHat.q2*QHat.q2 + QHat.q3*QHat.q3))*magRef.x+2.0*(QHat.q1*QHat.q2+QHat.q0*QHat.q3)*magRef.y+2.0*(QHat.q1*QHat.q3-QHat.q0*QHat.q2)*magRef.z;
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| 120 | mHat.y = 2.0*(QHat.q1*QHat.q2 - QHat.q0*QHat.q3)*magRef.x+(1-2.0*(QHat.q1*QHat.q1 + QHat.q3*QHat.q3))*magRef.y+2.0*(QHat.q2*QHat.q3 + QHat.q0*QHat.q1)*magRef.z;
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| 121 | mHat.z = 2.0*(QHat.q1*QHat.q3+QHat.q0*QHat.q2)*magRef.x+2.0*(QHat.q2*QHat.q3 - QHat.q0*QHat.q1)*magRef.y+(1-2.0*(QHat.q1*QHat.q1 + QHat.q2*QHat.q2))*magRef.z;
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| 122 |
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| 123 |
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[24] | 124 | // compute the error between mHat and mTilde
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| 125 | mTilde=CrossProduct(mHat, mBar);
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| 126 |
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| 127 | // Compute the debiased rotation speed
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| 128 | omegaHat = rawGyr - BHat;
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| 129 |
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| 130 | // calculate the correction to apply to the quaternion
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[197] | 131 | alpha.x = (ka[0]->Value()*aTilde.x)/(G*G) + (km[0]->Value()*mTilde.x)/(magRef.GetNorm()*magRef.GetNorm());
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| 132 | alpha.y = (ka[1]->Value()*aTilde.y)/(G*G) + (km[1]->Value()*mTilde.y)/(magRef.GetNorm()*magRef.GetNorm());
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| 133 | alpha.z = (ka[2]->Value()*aTilde.z)/(G*G) + (km[2]->Value()*mTilde.z)/(magRef.GetNorm()*magRef.GetNorm());
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[24] | 134 |
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| 135 | // Bias derivative
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| 136 | dBHat.x = kb[0]->Value() * alpha.x;
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| 137 | dBHat.y = kb[1]->Value() * alpha.y;
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| 138 | dBHat.z = kb[2]->Value() * alpha.z;
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| 139 |
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| 140 | // Bias integration
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| 141 | BHat = BHat+dBHat*delta_t;
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| 142 |
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| 143 | // Quaternion derivative: dQHat = 0.5*(QHat*Q_corr)
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| 144 | // Q_corr: Corrected pure rotation quaternion for integration
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| 145 | dQHat=QHat.GetDerivative(omegaHat - alpha);
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| 146 |
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| 147 | // Quaternion integration
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| 148 | QHat = QHat +dQHat*delta_t; // delta_t: sampling period [s]
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| 149 |
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| 150 | QHat.Normalize();
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| 151 |
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| 152 | ahrsData->SetQuaternionAndAngularRates(QHat,rawGyr - BHat);
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| 153 |
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[223] | 154 | }
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[24] | 155 |
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| 156 | ahrsData->SetDataTime(data->DataTime());
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| 157 | ProcessUpdate(ahrsData);
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| 158 | }
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| 159 |
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| 160 | } // end namespace filter
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| 161 | } // end namespace flair
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