Changeset 198 in flair-src for trunk/lib/FlairSensorActuator/src/SimuImu.cpp
- Timestamp:
- 09/14/17 15:52:29 (7 years ago)
- File:
-
- 1 edited
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trunk/lib/FlairSensorActuator/src/SimuImu.cpp
r186 r198 36 36 SimuImu::SimuImu(string name, uint32_t modelId,uint32_t deviceId, 37 37 uint8_t priority) 38 : Imu(name ), Thread(getFrameworkManager(), name, priority) {38 : Imu(name,false), Thread(getFrameworkManager(), name, priority) { 39 39 dataRate = 40 40 new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 500, 1, 200); … … 117 117 Vector3Df rawMag(state.mx, state.my, state.mz); 118 118 Vector3Df rawGyr(state.wx, state.wy, state.wz); 119 //we do not need rotation in simulation 120 /* 119 121 ApplyRotation(angRate); 120 122 ApplyRotation(quaternion); 121 123 ApplyRotation(rawAcc); 122 124 ApplyRotation(rawMag); 123 ApplyRotation(rawGyr); 125 ApplyRotation(rawGyr);*/ 124 126 ahrsData->SetQuaternionAndAngularRates(quaternion,angRate); 125 127 imuData->SetRawAccMagAndGyr(rawAcc,rawMag,rawGyr);
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