Changeset 343 in flair-src for trunk/lib/FlairSensorActuator/src/Imu.h


Ignore:
Timestamp:
12/12/19 18:11:36 (2 years ago)
Author:
Sanahuja Guillaume
Message:

update imu

File:
1 edited

Legend:

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  • trunk/lib/FlairSensorActuator/src/Imu.h

    r340 r343  
    147147  */
    148148  void GetDatas(core::ImuData **imuData) const;
     149 
     150  /*!
     151  * \brief Remove Offsets
     152  *
     153  * Remove the accelerometers and gyrometers offsets. During first 10s, returns 0 (gathering data to get offset)
     154  * Then, returns the vectors without offset
     155  *
     156  * \param acc accelerometer vector to remove offset
     157  * \param gyr gyrometer vector to remove offset
     158  */
     159  void RemoveOffsets(core::Vector3Df& acc,core::Vector3Df& gyr);
    149160
    150161private:
     
    158169  gui::DataPlot1D *gxPlot, *gyPlot, *gzPlot;
    159170  gui::DataPlot1D *mxPlot, *myPlot, *mzPlot;
     171 
     172  core::Time startCalcOffset;
     173  bool calibrationDone;
     174  core::Vector3Df accOffset,gyrOffset;
     175  uint16_t cptOffset;
     176 
    160177};
    161178} // end namespace sensor
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