Changeset 103 in flair-src for trunk/lib/FlairSensorActuator


Ignore:
Timestamp:
Oct 11, 2016, 12:07:16 PM (5 years ago)
Author:
Sanahuja Guillaume
Message:

maj quaternion 3dmgx3

Location:
trunk/lib/FlairSensorActuator/src
Files:
2 edited

Legend:

Unmodified
Added
Removed
  • trunk/lib/FlairSensorActuator/src/Gx3_25_imu.cpp

    r102 r103  
    3535
    3636  if (command == EulerAnglesAndAngularRates) {
    37 
     37    Printf("Gx3_25_imu enabling EulerAnglesAndAngularRates\n");
    3838  } else if (command == AccelerationAngularRateAndOrientationMatrix) {
    39     //Thread::Err("oneaxis rotation of rotation matrix is not yet implemented\n");
     39    Printf("Gx3_25_imu enabling AccelerationAngularRateAndOrientationMatrix\n");
    4040  } else if (command == Quaternion) {
    41 
     41    Printf("Gx3_25_imu enabling Quaternion\n");
    4242  } else {
    4343    Thread::Err("command not supported (%i)\n", command);
  • trunk/lib/FlairSensorActuator/src/Gx3_25_imu_impl.cpp

    r102 r103  
    118118  SetContinuousMode(command);
    119119
    120   //_printf("firmware version: %i\n",get_firmware_number());
    121 
    122120  while (!self->ToBeStopped()) {
    123121    if (command == Gx3_25_imu::EulerAnglesAndAngularRates) {
     
    352350  command[5] = rate & 0xff;        // data rate LSB
    353351  result = 0;
    354   if (disable_magn->IsChecked() == true)
    355     result |= 0x01;
    356   if (disable_north_comp->IsChecked() == true)
    357     result |= 0x04;
    358   if (disable_grav_comp->IsChecked() == true)
    359     result |= 0x08;
    360 
     352  if (disable_magn->IsChecked() == true) result |= 0x01;
     353  if (disable_north_comp->IsChecked() == true) result |= 0x04;
     354  if (disable_grav_comp->IsChecked() == true) result |= 0x08;
     355  if (this->command == Gx3_25_imu::Quaternion) result |= 0x10;//enable quaternion
    361356  command[6] = result;
     357
    362358  result = 0x01; // Calculate orientation
    363359  if (coning->IsChecked() == true)
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