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

Timestamp:

Apr 26, 2017, 11:12:59 AM (8 years ago)

Author:

Sanahuja Guillaume

Message:

modif imu

File:

• trunk/lib/FlairFilter/src/Gx3_25_ahrs.cpp (modified) (2 diffs)

trunk/lib/FlairFilter/src/Gx3_25_ahrs.cpp

@@ -37 +37 @@
 Gx3_25_ahrs::~Gx3_25_ahrs() {}
 
-// datas from Gx3_25_imu are AhrsData!
+// datas outputed from Gx3_25_imu are AhrsData!
 void Gx3_25_ahrs::UpdateFrom(const io_data *data) {
   AhrsData *input = (AhrsData *)data;
@@ -46 +46 @@
   Vector3Df filteredAngRates;
   input->GetQuaternionAndAngularRates(quaternion, filteredAngRates);
-  GetImu()->GetOneAxisRotation()->ComputeRotation(quaternion);
-  GetImu()->GetOneAxisRotation()->ComputeRotation(filteredAngRates);
   output->SetQuaternionAndAngularRates(quaternion, filteredAngRates);
   output->SetDataTime(input->DataTime());