Ignore:
Timestamp:
09/14/17 15:52:29 (4 years ago)
Author:
Sanahuja Guillaume
Message:

modifs imu

File:
1 edited

Legend:

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

    r186 r198  
    3636SimuImu::SimuImu(string name, uint32_t modelId,uint32_t deviceId,
    3737                 uint8_t priority)
    38     : Imu(name), Thread(getFrameworkManager(), name, priority) {
     38    : Imu(name,false), Thread(getFrameworkManager(), name, priority) {
    3939  dataRate =
    4040      new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 500, 1, 200);
     
    117117    Vector3Df rawMag(state.mx, state.my, state.mz);
    118118    Vector3Df rawGyr(state.wx, state.wy, state.wz);
     119    //we do not need rotation in simulation
     120    /*
    119121    ApplyRotation(angRate);
    120122    ApplyRotation(quaternion);
    121123    ApplyRotation(rawAcc);
    122124    ApplyRotation(rawMag);
    123     ApplyRotation(rawGyr);
     125    ApplyRotation(rawGyr);*/
    124126    ahrsData->SetQuaternionAndAngularRates(quaternion,angRate);
    125127    imuData->SetRawAccMagAndGyr(rawAcc,rawMag,rawGyr);
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