| 1 | // created: 2013/01/16
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| 2 | // filename: Gx3_25_ahrs.cpp
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| 3 | //
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| 4 | // author: Guillaume Sanahuja
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| 5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 6 | //
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| 7 | // version: $Id: $
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| 8 | //
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| 9 | // purpose: class for 3dmgx3-25 ahrs
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| 10 | //
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| 11 | //
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| 12 | /*********************************************************************/
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| 13 |
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| 14 | #include "Gx3_25_ahrs.h"
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| 15 | #include <FrameworkManager.h>
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| 16 | #include <AhrsData.h>
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| 17 |
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| 18 | using std::string;
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| 19 | using namespace flair::core;
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| 20 | using namespace flair::sensor;
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| 21 |
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| 22 | namespace flair { namespace filter {
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| 23 |
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| 24 | Gx3_25_ahrs::Gx3_25_ahrs(const FrameworkManager* parent,string name,SerialPort *serialport,Gx3_25_imu::Command_t command,uint8_t priority) : Ahrs(new Gx3_25_imu(parent,name,serialport,command,priority),name) {
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| 25 | }
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| 26 |
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| 27 | Gx3_25_ahrs::~Gx3_25_ahrs() {
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| 28 | }
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| 29 |
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| 30 | void Gx3_25_ahrs::Start(void) {
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| 31 | ((Gx3_25_imu*)GetImu())->Start();
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| 32 | }
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| 33 |
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| 34 | //datas from Gx3_25_imu are AhrsData!
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| 35 | void Gx3_25_ahrs::UpdateFrom(const io_data *data) {
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| 36 | AhrsData *input=(AhrsData*)data;
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| 37 | AhrsData *output;
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| 38 | GetDatas(&output);
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| 39 |
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| 40 | Quaternion quaternion;
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| 41 | Vector3D filteredAngRates;
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| 42 | input->GetQuaternionAndAngularRates(quaternion,filteredAngRates);
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| 43 | output->SetQuaternionAndAngularRates(quaternion,filteredAngRates);
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| 44 | output->SetDataTime(input->DataTime());
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| 45 |
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| 46 | ProcessUpdate(output);
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| 47 | }
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| 48 |
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| 49 | } // end namespace filter
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| 50 | } // end namespace flair
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| 51 |
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