public void OnSensorChanged(SensorEvent e)
{
LoadNewSensorData(e);
xView.Text = (accelData[0]).ToString();
yView.Text = (accelData[1]).ToString();
zView.Text = (accelData[2]).ToString();
vx.Text = (v[0]).ToString();
vy.Text = (v[1]).ToString();
vz.Text = (v[2]).ToString();
drx.Text = (dr[0]).ToString();
dry.Text = (dr[1]).ToString();
drz.Text = (dr[2]).ToString();
if (giroscopeData != null)
{
girox.Text = (giroscopeData[0]).ToString();
giroy.Text = (giroscopeData[1]).ToString();
giroz.Text = (giroscopeData[2]).ToString();
}
if (giroscopeData != null && accelData != null)
{
// MadgwickAHRS madgwick = new MadgwickAHRS(1f / 256f,1);
AHRS.Update(deg2rad(giroscopeData[0]), deg2rad(giroscopeData[1]), deg2rad(giroscopeData[2]), accelData[0], accelData[1], accelData[2]);
//выводим в текстовое поле значение кватерниона из свойства класса MadgwickAHRS {get;set}
QuaterionField.Text = (AHRS.Quaternion).ToString();
// static void Main (string[] args) {
//
// var lsm9DS1 = new LSM9DS1 (false);
// lsm9DS1.GyroChanged += (sender, vector3) =>
// {
// Console.WriteLine($"Gyro X: {vector3.X} Y: {vector3.Y} Z: {vector3.Z}");
// };
// lsm9DS1.AccelerometerChanged += (sender, vector3) => {
// Console.WriteLine ($"Accelerometer X: {vector3.X} Y: {vector3.Y} Z: {vector3.Z}");
// };
//
// lsm9DS1.StartInternalPolling ();
//
// Thread.Sleep (Timeout.Infinite);
// }
// static void Main(string[] args)
// {
// var lsm9DS1 = new LSM9DS1();
// lsm9DS1.Begin();
// while (true)
// {
// var acc = lsm9DS1.ReadAccelerometer();
// var gyro = lsm9DS1.ReadGyroscope();
// var mag = lsm9DS1.ReadMagnetometer();
// Console.WriteLine($"Accelerometer x {acc.X:N3} y {acc.X:N3} z {acc.Z:N3}");
// Console.WriteLine($"Gyroscope x {gyro.X:N3} y {gyro.X:N3} z {gyro.Z:N3}");
// Console.WriteLine($"Magnetometer x {mag.X:N3} y {mag.X:N3} z {mag.Z:N3}");
// Console.WriteLine();
// Thread.Sleep(50);
// }
// Thread.Sleep(Timeout.Infinite);
// }
static async Task Main(string[] args)
{
// This switch must be set before creating the GrpcChannel/HttpClient.
AppContext.SetSwitch(
"System.Net.Http.SocketsHttpHandler.Http2UnencryptedSupport", true);
var channel = GrpcChannel.ForAddress("http://192.168.0.40:5000");
var client = new Location.LocationClient(channel);
var degreesToRadiansFactor = Math.PI / 180;
var radiansToDegreesFactor = 180.0f / Math.PI;
var samplePeriod = TimeSpan.FromMilliseconds(50);
// var ahrs = new MahonyAHRS(samplePeriod, 5f);
var ahrs = new MadgwickAHRS((float)samplePeriod.TotalSeconds, 0.1f);
var lsm9DS1 = new LSM9DS1();
lsm9DS1.Begin();
while (true)
{
// read fresh sensor data
var acc = lsm9DS1.ReadAccelerometer();
var gyro = lsm9DS1.ReadGyroscope();
var mag = lsm9DS1.ReadMagnetometer();
// convert gyro readings from dps to rad/s
var gx = (float)(gyro.X * degreesToRadiansFactor);
var gy = (float)(gyro.Y * degreesToRadiansFactor);
var gz = (float)(gyro.Z * degreesToRadiansFactor);
// update ahrs
ahrs.Update(gx, gy, gz,
acc.X, acc.Y, acc.Z,
mag.X, mag.Y, mag.Z
);
ahrs.ComputeAngles();
// output rol, pitch and yaw
var rollDegrees = ahrs.Roll * radiansToDegreesFactor;
var pitchDegrees = ahrs.Pitch * radiansToDegreesFactor;
var yawDegrees = ahrs.Yaw * radiansToDegreesFactor;
client.UpdateLocationAsync(
new NewLocation {
Roll = rollDegrees, Pitch = pitchDegrees, Yaw = yawDegrees
}
);
Console.WriteLine($"Roll {rollDegrees:N3} Pitch {pitchDegrees:N3} Yaw {yawDegrees:N3}");
Console.WriteLine();
Thread.Sleep(samplePeriod);
}
Thread.Sleep(Timeout.Infinite);
}
public void AHRS_Test()
{
MadgwickAHRS AHRS = new MadgwickAHRS(0.00000001f);
AHRS.Update(0f, 0f, 0f, 0f, 1f, 0f);
List <float> q = AHRS.Quaternion.ToList();
Assert.AreEqual(1, Math.Sqrt(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]));
}
/// <summary>
/// Update sensor readings using Madgwick AHRS algorithm.
/// </summary>
public void Update()
{
if (MagXAxis == 0 || MagYAxis == 0 || MagZAxis == 0)
{
_ahrs.Update(
Deg2rad((float)GyroXAxis),
Deg2rad((float)GyroYAxis),
Deg2rad((float)GyroZAxis),
(float)AccelXAxis,
(float)AccelYAxis,
(float)AccelZAxis
);
}
else
{
_ahrs.Update(
Deg2rad((float)GyroXAxis),
Deg2rad((float)GyroYAxis),
Deg2rad((float)GyroZAxis),
(float)AccelXAxis,
(float)AccelYAxis,
(float)AccelZAxis,
(float)MagXAxis,
(float)MagYAxis,
(float)MagZAxis
);
}
QuaternionWAxis = _ahrs.Quaternion[0];
QuaternionXAxis = _ahrs.Quaternion[1];
QuaternionYAxis = _ahrs.Quaternion[2];
QuaternionZAxis = _ahrs.Quaternion[3];
EulerRoll = _ahrs.Euler[0];
EulerPitch = _ahrs.Euler[1];
EulerYaw = _ahrs.Euler[2];
}
private void UpdateAHRS()
{
_ahrs.Update(
//GYROSCOPE
Input.gyro.rotationRate.x,
Input.gyro.rotationRate.y,
Input.gyro.rotationRate.z,
//ACCELEROMETER
Input.acceleration.x,
Input.acceleration.y,
Input.acceleration.z,
//MAGNETOMETER
Input.compass.rawVector.x,
Input.compass.rawVector.y,
Input.compass.rawVector.z
);
}
public float[] getEuler(float[][] matGyr, float[][] matAcc)
{
//float[] matOut={0,0,0};
float[] euler = new float[] { 0, 0, 0 };
//float seamplePeriod = 1 / 256f;
float[, ][] R = new float[3, 3][];
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
R [i, j] = new float[matGyr.Length];
for (int k = 0; k < matGyr.Length; k++)
{
R [i, j] [k] = 0f;
}
}
}
MadgwickAHRS ahrs = new MadgwickAHRS(1 / 256f);
for (int i = 0; i < matGyr.Length; i++)
{
float imp = (float)3.14 / 180;
//gyro in grade
float gx = (matGyr [i] [0] * imp);
float gy = matGyr [i] [1] * imp;
float gz = matGyr [i] [2] * imp;
float ax = matAcc [i] [0];
float ay = matAcc [i] [1];
float az = matAcc [i] [2];
ahrs.Update(gx, gy, gz, ax, ay, az);
euler = ahrs.QuaternToEuler();
}
return(euler);
}
private void Form1_Paint(object sender, PaintEventArgs e)
{
textBox2.Clear();
textBox3.Clear();
textBox4.Clear();
textBox6.Clear();
textBox7.Clear();
textBox8.Clear();
textBox8.AppendText(updatevalues.Beta.ToString("0.00"));
textBox2.AppendText("x del acelerometro: " + afx.ToString("0.0000") + "\r\n");
textBox2.AppendText("y del acelerometro: " + afy.ToString("0.0000") + "\r\n");
textBox2.AppendText("z del acelerometro: " + afz.ToString("0.0000") + "\r\n");
textBox3.AppendText("x del giroscopo" + gfx.ToString("0.0000") + "\r\n");
textBox3.AppendText("y del giroscopo" + gfy.ToString("0.0000") + "\r\n");
textBox3.AppendText("z del giroscopo" + gfz.ToString("0.0000") + "\r\n");
textBox4.AppendText("x del magenetometro" + mfx.ToString("0.0000") + "\r\n");
textBox4.AppendText("y del magenetometro" + mfy.ToString("0.0000") + "\r\n");
textBox4.AppendText("z del magenetometro" + mfz.ToString("0.0000") + "\r\n");
smooth[0] = (gfx * alpha + (1 - alpha) * smooth[0]);
smooth[1] = (gfy * alpha + (1 - alpha) * smooth[1]);
smooth[2] = (gfz * alpha + (1 - alpha) * smooth[2]);
smooth[3] = (afx * alpha + (1 - alpha) * smooth[3]);
smooth[4] = (afy * alpha + (1 - alpha) * smooth[4]);
smooth[5] = (afz * alpha + (1 - alpha) * smooth[5]);
smooth[6] = (mfx * alpha + (1 - alpha) * smooth[6]);
smooth[7] = (mfy * alpha + (1 - alpha) * smooth[7]);
smooth[8] = (mfz * alpha + (1 - alpha) * smooth[8]);
gdfx = gfx * ((float)Math.PI / 180.0f);
gdfy = gfx * ((float)Math.PI / 180.0f);
gdfz = gfx * ((float)Math.PI / 180.0f);
// updatevalues.Update(gdfx, gdfy, gdfz, smooth[3], smooth[4], smooth[5], smooth[6], smooth[7], smooth[8]);//con filtro
updatevalues.Update(gdfx, gdfy, gdfz, afx, afy, afz, mfx, mfy, mfz);//Sin filtro de medias
Quaterniones(q, updatevalues);
textBox7.AppendText("q0:" + updatevalues.Quaternion[0] + "\r\n");
textBox7.AppendText("q1:" + updatevalues.Quaternion[1] + "\r\n");
textBox7.AppendText("q2:" + updatevalues.Quaternion[2] + "\r\n");
textBox7.AppendText("q3:" + updatevalues.Quaternion[3] + "\r\n");
/*textBox5.AppendText("timer: " + timervalue.ToString()+"us" + "\r\n");*/
textBox5.AppendText("timer: " + timervalue.ToString() + "us" + "\r\n");
getYawPitchRollRad(ypr, q);
pitchb = -(float)Math.Atan(afx / ((afx * afx) + (afz * afz))); // ypr[1];
rollb = -(float)Math.Atan(afy / ((afz * afz) + (afy * afy))); //ypr[2];
yawb = ypr[0];
differencepitch = pitch - pitchb;
differenceroll = roll - rollb;
differenceyaw = yaw - yawb;
textBox6.AppendText("pitch:" + pitch + "\r\n");
textBox6.AppendText("roll:" + roll + "\r\n");
textBox6.AppendText("yaw:" + yaw + "\r\n");
textBox6.AppendText("pitchb:" + pitchb + "\r\n");
textBox6.AppendText("rollb:" + rollb + "\r\n");
textBox6.AppendText("yawb:" + yawb + "\r\n");
textBox6.AppendText("Longitud" + longitud + "\r\n");
textBox6.AppendText("Latitud" + latitud + "\r\n");
//Datos aplicacion c#
chart1.ChartAreas[0].AxisX.Minimum = nmin;
chart1.ChartAreas[0].AxisX.Maximum = nmax;
chart1.ChartAreas[0].AxisY.Maximum = 2;
chart1.ChartAreas[0].AxisY.Minimum = -2;
chart2.ChartAreas[0].AxisX.Minimum = nmin;
chart2.ChartAreas[0].AxisX.Maximum = nmax;
chart2.ChartAreas[0].AxisY.Maximum = 4;
chart3.ChartAreas[0].AxisX.Minimum = nmin;
chart3.ChartAreas[0].AxisX.Maximum = nmax;
chart3.ChartAreas[0].AxisY.Minimum = -2;
chart3.ChartAreas[0].AxisY.Maximum = 2;
chart1.Series["Pitchb"].ChartType = SeriesChartType.FastLine;
chart1.Series["Pitchb"].Color = Color.Black;
chart1.Series["Pitchb"].Points.AddXY(i, pitchb);
/* chart2.Series["Yawb"].ChartType = SeriesChartType.FastLine;
* chart2.Series["Yawb"].Color = Color.Black;
* chart2.Series["Yawb"].Points.AddXY(i, yawb);*/
chart3.Series["Rollb"].ChartType = SeriesChartType.FastLine;
chart3.Series["Rollb"].Color = Color.Black;
chart3.Series["Rollb"].Points.AddXY(i, rollb);
//Datos Microcontrolador
chart1.Series["Pitch"].ChartType = SeriesChartType.FastLine;
chart1.Series["Pitch"].Color = Color.Blue;
chart1.Series["Pitch"].Points.AddXY(i, pitch);
chart2.Series["Yaw"].ChartType = SeriesChartType.FastLine;
chart2.Series["Yaw"].Color = Color.Orange;
chart2.Series["Yaw"].Points.AddXY(i, yaw);
chart3.Series["Roll"].ChartType = SeriesChartType.FastLine;
chart3.Series["Roll"].Color = Color.Green;
chart3.Series["Roll"].Points.AddXY(i, roll);
//Diferencia
/* chart1.Series["Error"].ChartType = SeriesChartType.FastLine;
* chart1.Series["Error"].Color = Color.Red;
* chart1.Series["Error"].Points.AddXY(i, differencepitch);
*
*
*
* chart2.Series["Error"].ChartType = SeriesChartType.FastLine;
* chart2.Series["Error"].Color = Color.Red;
* chart2.Series["Error"].Points.AddXY(i, differenceyaw);
*
* chart3.Series["Error"].ChartType = SeriesChartType.FastLine;
* chart3.Series["Error"].Color = Color.Red;
* chart3.Series["Error"].Points.AddXY(i, differenceroll);*/
i++;
if (i == nmax)
{
nmin = nmax / 2;
nmax =
(nmax + nmin);
}
}
public static async Task Main(string[] args)
{
//Load in data from sensor
MLContext mlContext = new MLContext();
IDataView dataView = mlContext.Data.LoadFromTextFile <SensorData>(path: linAccOriginal, hasHeader: true, separatorChar: ',');
var accelerations = mlContext.Data.CreateEnumerable <SensorData>(dataView, reuseRowObject: false).ToList();
var time = accelerations.Select(x => x.Time).ToList();
//load data from python export
IDataView counts = mlContext.Data.LoadFromTextFile <linnaccpy>(path: counts_path, hasHeader: true);
var acc_counts = mlContext.Data.CreateEnumerable <linnaccpy>(counts, reuseRowObject: false).ToList();
//load data from wheel export
IDataView wheelView = mlContext.Data.LoadFromTextFile <WheelD>(path: wheel_path, hasHeader: true, separatorChar: ',');
var wheeldata = mlContext.Data.CreateEnumerable <WheelD>(wheelView, reuseRowObject: false).ToList();
//Apply filter
List <double> difference = new List <double>();
for (int k = 1; k < accelerations.Count; k++)
{
difference.Add(accelerations[k].Time - accelerations[k - 1].Time);
}
var average = difference.Sum(x => x) / difference.Count();
var filteredAcceleration = Butterworth(accelerations.Select(x => x.Acceleration_x).ToArray(), average, 0.5);
var jerk = Derivative(filteredAcceleration.ToList(), average);
List <CustomDouble> accelerationRoots = new List <CustomDouble>();
bisection(1, filteredAcceleration.ToList().Count - 1, filteredAcceleration.ToList());
accelerationRoots = foundRoots.ToList();
exportdata(filteredAcceleration.ToList(), "versnelling_filtered", "m/s^2", true, foundRoots.Select(x => x.countInArray).ToList());
List <CustomDouble> max = new List <CustomDouble>();
for (int k = 0; k < foundRoots.Count; k++)
{
//Find all max: //f'(t+h) < 0 and f'(t-h) > 0
int h = 5;
int tminh = foundRoots[k].countInArray - h;
int tplush = foundRoots[k].countInArray + h;
if (foundRoots[k].countInArray - h < 0)
{
tminh = foundRoots[k].countInArray;
}
if (foundRoots[k].countInArray + h > foundRoots.Count - 1)
{
tplush = foundRoots[k].countInArray + h;
}
if (jerk[tminh] > 0 && jerk[tplush] < 0)
{
max.Add(foundRoots[k]);
}
}
difference = new List <double>();
for (int k = 1; k < wheeldata.Count; k++)
{
difference.Add(wheeldata[k].Time - wheeldata[k - 1].Time);
}
var averageWheelPeriod = difference.Sum(x => x) / difference.Count();
MadgwickAHRS AHRS = new MadgwickAHRS((float)averageWheelPeriod, 1f);
List <string> eulerAngles = new List <string>(); //Z,Y,X
for (int i = 0; i < wheeldata.Count - 2; i++)
{
var k = wheeldata[i];
float[] a = { (float)k.Accy / (float)9.81, (float)k.Accz / (float)9.81, (float)k.Accx / (float)9.81 };
float[] g = { (float)k.GyroY, (float)k.GyorZ, (float)k.GyorX };
float[] B = { (float)k.By, (float)k.Bz, (float)k.Bx };
var e = new MagData(g, a, B);
AHRS.Update((e.Gyroscope[0]), (e.Gyroscope[1]), (e.Gyroscope[2]), e.Accelerometer[0], e.Accelerometer[1], e.Accelerometer[2]);
var z = (new QuaternionData(AHRS.Quaternion)).ConvertToConjugate().ConvertToEulerAnglesCSVstring();
eulerAngles.Add(z);
}
System.Text.StringBuilder sb = new System.Text.StringBuilder();
sb.AppendLine($"Z,Y,X");
foreach (var item in eulerAngles)
{
sb.AppendLine(item.ToString());
}
string eulerAnglespath = Path.Combine("/D/", "acc_export", $"euler_angles.csv");
System.IO.File.WriteAllText(
eulerAnglespath,
sb.ToString());
//rotatie om y-as dus...
//load data from wheel export
IDataView eulerView = mlContext.Data.LoadFromTextFile <EulerData>(path: eulerAnglespath, hasHeader: true, separatorChar: ',');
var AnglesData = mlContext.Data.CreateEnumerable <EulerData>(eulerView, reuseRowObject: false).ToList(); // in deg
exportdata(AnglesData.Select(x => x.Z).ToList(), "z-theta", "deg", true);
exportdata(AnglesData.Select(x => x.Y).ToList(), "y-theta", "deg", true);
exportdata(AnglesData.Select(x => x.X).ToList(), "x-theta", "deg", true);
//perform bisection
var y2 = Butterworth(wheeldata.Select(x => x.GyroY).ToArray(), averageWheelPeriod, 0.5);
List <double> angleTimes = new List <double>();
for (int k = 0; k < AnglesData.Count; k++)
{
angleTimes.Add(k * averageWheelPeriod);
}
bisection(1, y2.ToList().Count - 1, y2.ToList());
exportdata(y2.ToList(), "gyro", "rad/s", true, foundRoots.Select(x => x.countInArray).ToList());
bisection(1, jerk.ToList().Count - 1, jerk.ToList());
exportdata(jerk.ToList(), "jerk", "m/s^3", true);
List <CustomBool> maxOrMins = new List <CustomBool>();
for (int j = 0; j < foundRoots.Count; j++)
{
//f'(t-h) >0 en f'(t+h) < 0 , waar h een klein getal is. (maxima)
int h = 5;
int k = foundRoots[j].countInArray;
bool IsMax = false;
int indexForPlus = k + h;
int indexForMin = k - h;
if (k + h > jerk.Count)
{
indexForPlus = k;
}
else if (k - h < 0)
{
indexForMin = k;
}
var jj = jerk[indexForPlus];
if (jerk[indexForMin] > 0 && jerk[indexForPlus] < 0)
{
IsMax = true;
}
maxOrMins.Add(new CustomBool {
index = k, Max = IsMax
});
}
exportdata(filteredAcceleration.ToList(), "acc", "m/s^2", true, maxOrMins.Select(x => (int)x.index).ToList());
List <double> t = new List <double>();
for (int k = 0; k < accelerationRoots.Count - 1; k++)
{
double averageXroot = (accelerationRoots[k + 1].countInArray + accelerationRoots[k].countInArray) / 2.0;
var nearestMaxima = maxOrMins.OrderBy(x => Math.Abs((int)x.index - (int)averageXroot)).First();
if (nearestMaxima.Max)
{
var dt = (accelerationRoots[k + 1].countInArray - accelerationRoots[k].countInArray) * average;
t.Add(dt);
}
}
var countsmin = 5413.7; // 7.242048 kilometers per hour/TO CHANGE WHEN WE GET WRIST ACCELERATIONS!
double m = 80; // 80 kg
double r = 0.35; // wheel radius 35 cm
//https://www.nature.com/articles/sc201533.pdf
double EE = (0.0022 * countsmin + 3.13) / 1000; // V02 (L min-1 kg-1)
double EEm = EE * m * 5 * (t.Sum() / 60.0);
Console.WriteLine("Number of revolutions: " + (int)(foundRoots.Count / 2.0));
Console.WriteLine("Distance traveled: " + (int)((foundRoots.Count / 2.0) * 2 * Math.PI * r) + " m");
Console.WriteLine("Burned kcal: " + EEm);
}
// VALUES PARSING
void ParseSensorData(IBuffer characteristicValue)
{
if (eventData.Length != characteristicValue.Length)
{
eventData = new byte[characteristicValue.Length];
}
DataReader.FromBuffer(characteristicValue).ReadBytes(eventData);
var buffer = characteristicValue.ToArray();
if (buffer.Length < 3)
{
return;
}
//Array.Reverse(buffer);
var accelerometer = new List <float> {
getAccelerometerFloatWithOffsetFromArrayBufferAtIndex(buffer, 4, 0),
getAccelerometerFloatWithOffsetFromArrayBufferAtIndex(buffer, 6, 0),
getAccelerometerFloatWithOffsetFromArrayBufferAtIndex(buffer, 8, 0)
}.Select(x => x * ACCEL_FACTOR).ToList();
var gyro = new List <float> {
getGyroscopeFloatWithOffsetFromArrayBufferAtIndex(buffer, 10, 0),
getGyroscopeFloatWithOffsetFromArrayBufferAtIndex(buffer, 12, 0),
getGyroscopeFloatWithOffsetFromArrayBufferAtIndex(buffer, 14, 0)
}.Select(x => x * GYRO_FACTOR).ToList();
var mag = new List <float> {
getMagnetometerFloatWithOffsetFromArrayBufferAtIndex(buffer, 0),
getMagnetometerFloatWithOffsetFromArrayBufferAtIndex(buffer, 2),
getMagnetometerFloatWithOffsetFromArrayBufferAtIndex(buffer, 4)
};
_ahrs.Update(
gyro[0],
gyro[1],
gyro[2],
accelerometer[0],
accelerometer[1],
accelerometer[2]
);
// change quaternion format to Unity one
_latestTrackingData.quaternion = new float[] {
-_ahrs.Quaternion[1],
-_ahrs.Quaternion[3],
-_ahrs.Quaternion[2],
_ahrs.Quaternion[0]
};
_latestTrackingData.touchpadX = (
((eventData[54] & 0xF) << 6) +
((eventData[55] & 0xFC) >> 2)
) & 0x3FF;
// Max observed value = 315
_latestTrackingData.touchpadY = (
((eventData[55] & 0x3) << 8) +
((eventData[56] & 0xFF) >> 0)
) & 0x3FF;
_latestTrackingData.triggerButton = 0 != (eventData[58] & (1 << 0));
_latestTrackingData.homeButton = 0 != (eventData[58] & (1 << 1));
_latestTrackingData.backButton = 0 != (eventData[58] & (1 << 2));
_latestTrackingData.touchpadButton = 0 != (eventData[58] & (1 << 3));
_latestTrackingData.volumeDownButton = 0 != (eventData[58] & (1 << 4));
_latestTrackingData.volumeUpButton = 0 != (eventData[58] & (1 << 5));
_latestTrackingData.touchpadPressed = _latestTrackingData.touchpadX != 0 && _latestTrackingData.touchpadY != 0;
var temperature = eventData[57];
//Log($"Touchpad: ({trackingData.touchpadX}, {trackingData.touchpadY})");
OnSensorDataUpdated(this);
//Log($"trigger: {triggerButton}, home: {homeButton}, back: {backButton}, Q: {string.Join(", ", _ahrs.Quaternion)}");
}