Changeset 103 in flair-src for trunk/lib/FlairSensorActuator/src/Gx3_25_imu_impl.cpp

Timestamp:

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

Author:

Sanahuja Guillaume

Message:

maj quaternion 3dmgx3

File:

• trunk/lib/FlairSensorActuator/src/Gx3_25_imu_impl.cpp (modified) (2 diffs)

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)