Changeset 173 in flair-src for trunk/lib/FlairSensorActuator/src/SimuImu.cpp

Timestamp:

04/26/17 11:12:59 (7 years ago)

Author:

Sanahuja Guillaume

Message:

modif imu

File:

• trunk/lib/FlairSensorActuator/src/SimuImu.cpp (modified) (1 diff)

trunk/lib/FlairSensorActuator/src/SimuImu.cpp

@@ -105 +105 @@
 
     shmem->Read((char *)&state, sizeof(imu_states_t));
-    ahrsData->SetQuaternionAndAngularRates(
-        Quaternion(state.q0, state.q1, state.q2, state.q3),
-        Vector3Df(state.wx, state.wy, state.wz));
+    
+    Quaternion  quaternion(state.q0, state.q1, state.q2, state.q3);
+    Vector3Df angRate(state.wx, state.wy, state.wz);
+    ApplyRotation(angRate);
+    ApplyRotation(quaternion);
+    ahrsData->SetQuaternionAndAngularRates(quaternion,angRate);
 
     imuData->SetDataTime(GetTime());
     ahrsData->SetDataTime(GetTime());
 
-    UpdateImu();
     ProcessUpdate(ahrsData);
   }