public Task SendDeviceToCloudSensorDataAsync(AccelerationAndGyroModel sensorData)
{
var telemetryDataPoint = new
{
messageId = Guid.NewGuid().ToString(),
deviceId = deviceId,
accelerationX = sensorData.AccelerationX,
accelerationY = sensorData.AccelerationY,
accelerationZ = sensorData.AccelerationZ,
gyroX = sensorData.GyroX,
gyroY = sensorData.GyroY,
gyroZ = sensorData.GyroZ,
};
var messageString = JsonConvert.SerializeObject(telemetryDataPoint);
var message = new Message(Encoding.ASCII.GetBytes(messageString));
return(deviceClient.SendEventAsync(message));
}
public void UpdateFromGravity(AccelerationAndGyroModel sensors)
{
AccelAndGyro = sensors;
double gravX = sensors.AccelerationX;
double gravY = sensors.AccelerationY;
double gravZ = sensors.AccelerationZ;
double gyroZ = (sensors.GyroZ * sensors.SamplePeriod) - gyroZNoiseCorrect;
double gyroX = (sensors.GyroX * sensors.SamplePeriod) - gyroXNoiseCorrect;
double gyroY = (sensors.GyroY * sensors.SamplePeriod) - gyroYNoiseCorrect;
//roll happens along the Y axis so the Y gravity doesn't change, so we check X and Z changes for roll
if (!IsSignificantGravity(gravX, gravZ))
{
Roll += -1 * gyroY;
Roll = BoundAngle(Roll);
}
else
{
Roll = AngleFromGravity(gravX, gravZ);
}
//pitch is rotation along the x axis
if (!IsSignificantGravity(gravY, gravZ))
{
Pitch += gyroX;
Pitch = BoundAngle(Pitch);
}
else
{
Pitch = BoundAngle(AngleFromGravity(gravY, gravZ));
}
Yaw += -1 * gyroZ;
Yaw = BoundAngle(Yaw);
}