Changeset 99 in flair-src for trunk/lib/FlairFilter

Timestamp:

Oct 5, 2016, 3:02:20 PM (8 years ago)

Author:

Sanahuja Guillaume

Message:

rotation pour 3dmgx3

File:

• trunk/lib/FlairFilter/src/Gx3_25_ahrs.cpp (modified) (2 diffs)

trunk/lib/FlairFilter/src/Gx3_25_ahrs.cpp

@@ -19 +19 @@
 #include <FrameworkManager.h>
 #include <AhrsData.h>
+#include <OneAxisRotation.h>
 
 using std::string;
@@ -45 +46 @@
   Vector3D filteredAngRates;
   input->GetQuaternionAndAngularRates(quaternion, filteredAngRates);
+  GetImu()->GetOneAxisRotation()->ComputeRotation(quaternion);
+  GetImu()->GetOneAxisRotation()->ComputeRotation(filteredAngRates);
   output->SetQuaternionAndAngularRates(quaternion, filteredAngRates);
   output->SetDataTime(input->DataTime());