//constructor
public CAHRS(FormGPS _f)
{
mf = _f;
//non GPS AHRS sensors
isHeadingCorrectionFromAutoSteer = Properties.Settings.Default.setIMU_isHeadingCorrectionFromAutoSteer;
isHeadingCorrectionFromBrick = Properties.Settings.Default.setIMU_isHeadingCorrectionFromBrick;
//isHeadingCorrectionFromExtUDP = Properties.Settings.Default.setIMU_isHeadingCorrectionFromExtUDP;
isRollFromAutoSteer = Properties.Settings.Default.setIMU_isRollFromAutoSteer;
isRollFromAVR = Properties.Settings.Default.setIMU_isRollFromAVR;
isRollFromOGI = Properties.Settings.Default.setIMU_isRollFromOGI;
rollZeroX16 = Properties.Settings.Default.setIMU_rollZeroX16;
pitchZeroX16 = Properties.Settings.Default.setIMU_pitchZeroX16;
isAutoSteerAuto = Properties.Settings.Default.setAS_isAutoSteerAutoOn;
fusionWeight = Properties.Settings.Default.setIMU_fusionWeight;
//usb IMU Tinker
if (isHeadingCorrectionFromBrick)
{
ipcon = new IPConnection(); // Create IP connection
imu = new BrickIMUV2(CAHRS.UID, ipcon); // Create device object
try
{
ipcon.Connect(HOST, PORT); // Connect to brickd - daemon
// Don't use device before ipcon is connected
// Register Orientation callback in AHRS class
imu.OrientationCallback += OrientCB;
// Set period for Orientation callback to 0.1s (100ms)
imu.SetOrientationPeriod(100);
//set the mode with mag
imu.SetSensorFusionMode(1);
imu.LedsOff();
}
catch
{
}
}
}
//constructor
public CAHRS(FormGPS _f)
{
mf = _f;
//non GPS AHRS sensors
isHeadingBNO = Properties.Settings.Default.setIMU_isHeadingFromBNO;
isHeadingBrick = Properties.Settings.Default.setIMU_isHeadingFromBrick;
isHeadingPAOGI = Properties.Settings.Default.setIMU_isHeadingFromPAOGI;
isRollDogs = Properties.Settings.Default.setIMU_isRollFromDogs;
isRollBrick = Properties.Settings.Default.setIMU_isRollFromBrick;
isRollPAOGI = Properties.Settings.Default.setIMU_isRollFromPAOGI;
rollZero = Properties.Settings.Default.setIMU_rollZero;
pitchZero = Properties.Settings.Default.setIMU_pitchZero;
//usb IMU Tinker
if (isHeadingBrick | isRollBrick)
{
ipcon = new IPConnection(); // Create IP connection
imu = new BrickIMUV2(CAHRS.UID, ipcon); // Create device object
try
{
ipcon.Connect(HOST, PORT); // Connect to brickd - daemon
// Don't use device before ipcon is connected
// Register Orientation callback in AHRS class
imu.OrientationCallback += OrientCB;
// Set period for Orientation callback to 0.1s (100ms)
imu.SetOrientationPeriod(200);
//set the mode without mag
imu.SetSensorFusionMode(1);
imu.LedsOff();
}
catch
{
}
}
}