Ignore:
Timestamp:
06/23/17 17:33:03 (5 years ago)
Author:
Sanahuja Guillaume
Message:

maj imu

File:
1 edited

Legend:

Unmodified
Added
Removed
  • trunk/lib/FlairSensorActuator/src/SimuImu.cpp

    r173 r186  
    7979    state.wy = input->ValueNoMutex(8, 0);
    8080    state.wz = input->ValueNoMutex(9, 0);
     81    state.ax = input->ValueNoMutex(13, 0);
     82    state.ay = input->ValueNoMutex(14, 0);
     83    state.az = input->ValueNoMutex(15, 0);
     84    state.mx = input->ValueNoMutex(16, 0);
     85    state.my = input->ValueNoMutex(17, 0);
     86    state.mz = input->ValueNoMutex(18, 0);
    8187    input->ReleaseMutex();
    8288
     
    108114    Quaternion  quaternion(state.q0, state.q1, state.q2, state.q3);
    109115    Vector3Df angRate(state.wx, state.wy, state.wz);
     116    Vector3Df rawAcc(state.ax, state.ay, state.az);
     117    Vector3Df rawMag(state.mx, state.my, state.mz);
     118    Vector3Df rawGyr(state.wx, state.wy, state.wz);
    110119    ApplyRotation(angRate);
    111120    ApplyRotation(quaternion);
     121    ApplyRotation(rawAcc);
     122    ApplyRotation(rawMag);
     123    ApplyRotation(rawGyr);
    112124    ahrsData->SetQuaternionAndAngularRates(quaternion,angRate);
    113 
     125    imuData->SetRawAccMagAndGyr(rawAcc,rawMag,rawGyr);
    114126    imuData->SetDataTime(GetTime());
    115127    ahrsData->SetDataTime(GetTime());
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