Changeset 173 in flair-src for trunk/lib/FlairFilter


Ignore:
Timestamp:
Apr 26, 2017, 11:12:59 AM (5 years ago)
Author:
Sanahuja Guillaume
Message:

modif imu

File:
1 edited

Legend:

Unmodified
Added
Removed
  • trunk/lib/FlairFilter/src/Gx3_25_ahrs.cpp

    r167 r173  
    3737Gx3_25_ahrs::~Gx3_25_ahrs() {}
    3838
    39 // datas from Gx3_25_imu are AhrsData!
     39// datas outputed from Gx3_25_imu are AhrsData!
    4040void Gx3_25_ahrs::UpdateFrom(const io_data *data) {
    4141  AhrsData *input = (AhrsData *)data;
     
    4646  Vector3Df filteredAngRates;
    4747  input->GetQuaternionAndAngularRates(quaternion, filteredAngRates);
    48   GetImu()->GetOneAxisRotation()->ComputeRotation(quaternion);
    49   GetImu()->GetOneAxisRotation()->ComputeRotation(filteredAngRates);
    5048  output->SetQuaternionAndAngularRates(quaternion, filteredAngRates);
    5149  output->SetDataTime(input->DataTime());
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