//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 { } } }