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

Timestamp:

Oct 11, 2016, 12:07:16 PM (8 years ago)

Author:

Sanahuja Guillaume

Message:

maj quaternion 3dmgx3

Location:

trunk/lib/FlairSensorActuator/src

Files:

• Gx3_25_imu.cpp (modified) (1 diff)
• Gx3_25_imu_impl.cpp (modified) (2 diffs)

trunk/lib/FlairSensorActuator/src/Gx3_25_imu.cpp

@@ -35 +35 @@
 
   if (command == EulerAnglesAndAngularRates) {
-
+    Printf("Gx3_25_imu enabling EulerAnglesAndAngularRates\n");
   } else if (command == AccelerationAngularRateAndOrientationMatrix) {
-    //Thread::Err("oneaxis rotation of rotation matrix is not yet implemented\n");
+    Printf("Gx3_25_imu enabling AccelerationAngularRateAndOrientationMatrix\n");
   } else if (command == Quaternion) {
-
+    Printf("Gx3_25_imu enabling Quaternion\n");
   } else {
     Thread::Err("command not supported (%i)\n", command);

trunk/lib/FlairSensorActuator/src/Gx3_25_imu_impl.cpp

@@ -118 +118 @@
   SetContinuousMode(command);
 
-  //_printf("firmware version: %i\n",get_firmware_number());
-
   while (!self->ToBeStopped()) {
     if (command == Gx3_25_imu::EulerAnglesAndAngularRates) {
@@ -352 +350 @@
   command[5] = rate & 0xff;        // data rate LSB
   result = 0;
-  if (disable_magn->IsChecked() == true)
-    result |= 0x01;
-  if (disable_north_comp->IsChecked() == true)
-    result |= 0x04;
-  if (disable_grav_comp->IsChecked() == true)
-    result |= 0x08;
-
+  if (disable_magn->IsChecked() == true) result |= 0x01;
+  if (disable_north_comp->IsChecked() == true) result |= 0x04;
+  if (disable_grav_comp->IsChecked() == true) result |= 0x08;
+  if (this->command == Gx3_25_imu::Quaternion) result |= 0x10;//enable quaternion
   command[6] = result;
+
   result = 0x01; // Calculate orientation
   if (coning->IsChecked() == true)