[10] | 1 | // %flair:license{
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[15] | 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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[10] | 4 | // %flair:license}
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[7] | 5 | // created: 2013/01/16
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| 6 | // filename: Gx3_25_ahrs.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 for 3dmgx3-25 ahrs
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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 "Gx3_25_ahrs.h"
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| 19 | #include <AhrsData.h>
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[99] | 20 | #include <OneAxisRotation.h>
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[7] | 21 |
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| 22 | using std::string;
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| 23 | using namespace flair::core;
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| 24 | using namespace flair::sensor;
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| 25 |
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[15] | 26 | namespace flair {
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| 27 | namespace filter {
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[7] | 28 |
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[137] | 29 | Gx3_25_ahrs::Gx3_25_ahrs(string name,
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[15] | 30 | SerialPort *serialport, Gx3_25_imu::Command_t command,
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| 31 | uint8_t priority)
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[137] | 32 | : Ahrs(new Gx3_25_imu( name, serialport, command, priority), name) {}
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[7] | 33 |
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[15] | 34 | Gx3_25_ahrs::~Gx3_25_ahrs() {}
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[7] | 35 |
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[15] | 36 | void Gx3_25_ahrs::Start(void) { ((Gx3_25_imu *)GetImu())->Start(); }
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[7] | 37 |
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[15] | 38 | // datas from Gx3_25_imu are AhrsData!
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[7] | 39 | void Gx3_25_ahrs::UpdateFrom(const io_data *data) {
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[15] | 40 | AhrsData *input = (AhrsData *)data;
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| 41 | AhrsData *output;
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| 42 | GetDatas(&output);
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[7] | 43 |
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[15] | 44 | Quaternion quaternion;
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| 45 | Vector3D filteredAngRates;
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| 46 | input->GetQuaternionAndAngularRates(quaternion, filteredAngRates);
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[99] | 47 | GetImu()->GetOneAxisRotation()->ComputeRotation(quaternion);
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| 48 | GetImu()->GetOneAxisRotation()->ComputeRotation(filteredAngRates);
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[15] | 49 | output->SetQuaternionAndAngularRates(quaternion, filteredAngRates);
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| 50 | output->SetDataTime(input->DataTime());
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[7] | 51 |
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[15] | 52 | ProcessUpdate(output);
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[7] | 53 | }
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| 54 |
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| 55 | } // end namespace filter
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| 56 | } // end namespace flair
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