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/FlairSensorActuator/src/SimuImu.cpp

    r167 r173  
    105105
    106106    shmem->Read((char *)&state, sizeof(imu_states_t));
    107     ahrsData->SetQuaternionAndAngularRates(
    108         Quaternion(state.q0, state.q1, state.q2, state.q3),
    109         Vector3Df(state.wx, state.wy, state.wz));
     107   
     108    Quaternion  quaternion(state.q0, state.q1, state.q2, state.q3);
     109    Vector3Df angRate(state.wx, state.wy, state.wz);
     110    ApplyRotation(angRate);
     111    ApplyRotation(quaternion);
     112    ahrsData->SetQuaternionAndAngularRates(quaternion,angRate);
    110113
    111114    imuData->SetDataTime(GetTime());
    112115    ahrsData->SetDataTime(GetTime());
    113116
    114     UpdateImu();
    115117    ProcessUpdate(ahrsData);
    116118  }
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