Ignore:
Timestamp:
11/02/17 15:04:47 (4 years ago)
Author:
Sanahuja Guillaume
Message:

modifs usleep

File:
1 edited

Legend:

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

    r198 r202  
    3434namespace sensor {
    3535
     36//Construct a SimuImu. Control part.
    3637SimuImu::SimuImu(string name, uint32_t modelId,uint32_t deviceId,
    3738                 uint8_t priority)
     
    4647}
    4748
     49//Construct a SimuImu. Simulation part.
    4850SimuImu::SimuImu(const IODevice *parent, string name, uint32_t modelId,uint32_t deviceId)
    4951    : Imu(parent,name), Thread(parent, name, 0) {
     
    109111      SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
    110112    }
    111 
    112113    shmem->Read((char *)&state, sizeof(imu_states_t));
    113    
    114     Quaternion  quaternion(state.q0, state.q1, state.q2, state.q3);
     114    Quaternion quaternion(state.q0, state.q1, state.q2, state.q3);
    115115    Vector3Df angRate(state.wx, state.wy, state.wz);
    116116    Vector3Df rawAcc(state.ax, state.ay, state.az);
     
    128128    imuData->SetDataTime(GetTime());
    129129    ahrsData->SetDataTime(GetTime());
    130 
    131130    ProcessUpdate(ahrsData);
    132131  }
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