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

Timestamp:

12/12/19 18:11:36 (3 years ago)

Author:

Sanahuja Guillaume

Message:

update imu

File:

• trunk/lib/FlairSensorActuator/src/Imu.h (modified) (2 diffs)

trunk/lib/FlairSensorActuator/src/Imu.h

@@ -147 +147 @@
   */
   void GetDatas(core::ImuData **imuData) const;
+  
+  /*!
+  * \brief Remove Offsets
+  *
+  * Remove the accelerometers and gyrometers offsets. During first 10s, returns 0 (gathering data to get offset)
+  * Then, returns the vectors without offset
+  *
+  * \param acc accelerometer vector to remove offset
+  * \param gyr gyrometer vector to remove offset
+  */
+  void RemoveOffsets(core::Vector3Df& acc,core::Vector3Df& gyr);
 
 private:
@@ -158 +169 @@
   gui::DataPlot1D *gxPlot, *gyPlot, *gzPlot;
   gui::DataPlot1D *mxPlot, *myPlot, *mzPlot;
+  
+  core::Time startCalcOffset;
+  bool calibrationDone;
+  core::Vector3Df accOffset,gyrOffset;
+  uint16_t cptOffset;
+  
 };
 } // end namespace sensor