Exemple #1
0
        protected ImuSensor(SensorFusion fusion)
        {
            Fusion = fusion;

            AxisRotation = new AxisRotation();

            for (int i = 0; i < 3; i++)
            {
                _magMax[i] = -1000.0;
                _magMin[i] = 1000.0;
            }
        }
Exemple #2
0
        private void PerformAxisRotation(ref ImuSensorReadings readings)
        {
            if (readings.GyroValid)
            {
                readings.Gyro = AxisRotation.Rotate(readings.Gyro);
            }

            if (readings.AccelerationValid)
            {
                readings.Acceleration = AxisRotation.Rotate(readings.Acceleration);
            }

            if (readings.MagneticFieldValid)
            {
                readings.MagneticField = AxisRotation.Rotate(readings.MagneticField);
            }
        }