Ignore:
Timestamp:
Jun 23, 2017, 5:33:03 PM (4 years ago)
Author:
Sanahuja Guillaume
Message:

maj imu

File:
1 edited

Legend:

Unmodified
Added
Removed
  • trunk/lib/FlairSimulator/src/Model_impl.cpp

    r167 r186  
    114114  self->state[-2] = self->state[0];
    115115
    116   cvmatrix_descriptor *desc = new cvmatrix_descriptor(13, 1);
     116  cvmatrix_descriptor *desc = new cvmatrix_descriptor(19, 1);
    117117  desc->SetElementName(0, 0, "q0");
    118118  desc->SetElementName(1, 0, "q1");
     
    128128  desc->SetElementName(11, 0, "vy");
    129129  desc->SetElementName(12, 0, "vz");
     130  desc->SetElementName(13, 0, "ax");
     131  desc->SetElementName(14, 0, "ay");
     132  desc->SetElementName(15, 0, "az");
     133  desc->SetElementName(16, 0, "mx");
     134  desc->SetElementName(17, 0, "my");
     135  desc->SetElementName(18, 0, "mz");
    130136  output = new cvmatrix(this, desc, floatType, "state");
    131137  delete desc;
     
    318324    output->SetValueNoMutex(11, 0, self->state[0].Vel.y);
    319325    output->SetValueNoMutex(12, 0, self->state[0].Vel.z);
     326    //todo: put acc and mag
     327    output->SetValueNoMutex(13, 0, 0);
     328    output->SetValueNoMutex(14, 0, 0);
     329    output->SetValueNoMutex(15, 0, 0);
     330    output->SetValueNoMutex(16, 0, 0);
     331    output->SetValueNoMutex(17, 0, 0);
     332    output->SetValueNoMutex(18, 0, 0);
    320333    output->ReleaseMutex();
    321334    output->SetDataTime(GetTime());
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