public static Matrix3 rotation_df(DFLog.DFItem ATT)
{
//return the current DCM rotation matrix'''
var r = new Matrix3();
r.from_euler(radians((Double)ATT.GetRaw("Roll")), radians((Double)ATT.GetRaw("Pitch")), radians((Double)ATT.GetRaw("Yaw")));
return(r);
}
public static Vector3 earth_accel_df(DFLog.DFItem IMU, DFLog.DFItem ATT)
{
//return earth frame acceleration vector from df log
var r = rotation_df(ATT);
var accel = new Vector3((float)IMU.GetRaw("AccX"), (float)IMU.GetRaw("AccY"), (float)IMU.GetRaw("AccZ"));
return(r * accel);
}
public DFLog.DFItem this[long indexin]
{
get
{
var index = (int)indexin;
long startoffset = linestartoffset[index];
long endoffset = startoffset;
if ((index + 1) >= linestartoffset.Count)
{
endoffset = basestream.Length;
}
else
{
endoffset = linestartoffset[index + 1];
}
int length = (int)(endoffset - startoffset);
// prevent multi io to file
lock (locker)
{
if (linestartoffset[index] != basestream.Position)
{
basestream.Seek(linestartoffset[index], SeekOrigin.Begin);
}
if (binary)
{
var items = binlog.ReadMessageObjects(basestream, basestream.Length);
//var test = dflog.GetDFItemFromLine(this[index], index);
var answer = new DFLog.DFItem(dflog, items, (int)indexin);
return(answer);
}
else
{
byte[] data = new byte[length];
basestream.Read(data, 0, length);
return(dflog.GetDFItemFromLine(ASCIIEncoding.ASCII.GetString(data), (int)indexin));
}
}
}
}
