Changeset 198 in flair-src for trunk/lib/FlairSensorActuator

Timestamp:

Sep 14, 2017, 3:52:29 PM (7 years ago)

Author:

Sanahuja Guillaume

Message:

modifs imu

Location:

trunk/lib/FlairSensorActuator/src

Files:

• Imu.cpp (modified) (5 diffs)
• Imu.h (modified) (1 diff)
• SimuImu.cpp (modified) (2 diffs)

trunk/lib/FlairSensorActuator/src/Imu.cpp

@@ -33 +33 @@
 namespace sensor {
 
-Imu::Imu(string name) : IODevice(getFrameworkManager(), name) {
+Imu::Imu(string name,bool needRotation) : IODevice(getFrameworkManager(), name) {
   imuData = new ImuData(this);
 
@@ -41 +41 @@
   sensorTab = new Tab(tab, "Reglages");
   setupGroupbox = new GroupBox(sensorTab->NewRow(), name);
-  rotation = new OneAxisRotation(sensorTab->NewRow(), "post rotation",OneAxisRotation::PostRotation);
+  if(needRotation) {
+    rotation = new OneAxisRotation(sensorTab->NewRow(), "post rotation",OneAxisRotation::PostRotation);
+  } else {
+    rotation=NULL;
+  }
   AddDataToLog(imuData);
 }
@@ -66 +70 @@
 
 OneAxisRotation *Imu::GetOneAxisRotation(void) const {
+  if (rotation == NULL) {
+    Err("not applicable\n");
+  }
   return rotation;
 }
@@ -71 +78 @@
 void Imu::ApplyRotation(Vector3Df& vector) {
   if (rotation == NULL) {
-    Err("not applicable for simulation part.\n");
+    Err("not applicable\n");
     return;
   }
@@ -79 +86 @@
 void Imu::ApplyRotation(Quaternion& quaternion) {
   if (rotation == NULL) {
-    Err("not applicable for simulation part.\n");
+    Err("not applicable\n");
     return;
   }

trunk/lib/FlairSensorActuator/src/Imu.h

@@ -53 +53 @@
   *
   * \param name name
+  * \param needRotation true will enable post rotation in GCS. Post rotation must be applied manually in reimplemented code
   */
-  Imu(std::string name);
+  Imu(std::string name,bool needRotation=true);
 
   /*!

trunk/lib/FlairSensorActuator/src/SimuImu.cpp

@@ -36 +36 @@
 SimuImu::SimuImu(string name, uint32_t modelId,uint32_t deviceId,
                  uint8_t priority)
-    : Imu(name), Thread(getFrameworkManager(), name, priority) {
+    : Imu(name,false), Thread(getFrameworkManager(), name, priority) {
   dataRate =
       new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 500, 1, 200);
@@ -117 +117 @@
     Vector3Df rawMag(state.mx, state.my, state.mz);
     Vector3Df rawGyr(state.wx, state.wy, state.wz);
+    //we do not need rotation in simulation
+    /*
     ApplyRotation(angRate);
     ApplyRotation(quaternion);
     ApplyRotation(rawAcc);
     ApplyRotation(rawMag);
-    ApplyRotation(rawGyr);
+    ApplyRotation(rawGyr);*/
     ahrsData->SetQuaternionAndAngularRates(quaternion,angRate);
     imuData->SetRawAccMagAndGyr(rawAcc,rawMag,rawGyr);