protected virtual void OnCalInertialAndMagneticDataRead(CalInertialAndMagneticData e)
{
if (CalInertialAndMagneticDataRead != null)
{
CalInertialAndMagneticDataRead(this, e);
}
}
protected virtual void OnCalInertialAndMagneticDataReceived(CalInertialAndMagneticData e) { if (CalInertialAndMagneticDataReceived != null) CalInertialAndMagneticDataReceived(this, e); }
/// <summary>
/// Writes <see cref="CalInertialAndMagneticData"/> to CSV file. Will create new file if required.
/// </summary>
/// <param name="calInertialAndMagneticData">
/// x-IMU calibrated inertial/magnetic data.
/// </param>
public void WriteCalInertialAndMagneticData(CalInertialAndMagneticData calInertialAndMagneticData)
{
WriteCSVlineAtFileIndex(calInertialAndMagneticData.ConvertToCSVstring(), FileIndexes.CalInertialAndMag);
PacketsWrittenCounter.CalInertialAndMagneticDataPackets++;
}
/// <summary>
/// Writes <see cref="CalInertialAndMagneticData"/> to CSV file. Will create new file if required.
/// </summary>
/// <param name="calInertialAndMagneticData">
/// x-IMU calibrated inertial/magnetic data.
/// </param>
public void WriteCalInertialAndMagneticData(CalInertialAndMagneticData calInertialAndMagneticData)
{
WriteCSVlineAtFileIndex(calInertialAndMagneticData.ConvertToCSVstring(), FileIndexes.CalInertialAndMag);
PacketsWrittenCounter.CalInertialAndMagneticDataPackets++;
}
/// <summary>
/// xIMUserial CalInertialAndMagneticDataReceived event to update algorithm in AHRS mode.
/// </summary>
static void xIMUserial_CalInertialAndMagneticDataReceived_updateAHRS(object sender, x_IMU_API.CalInertialAndMagneticData e)
{
AHRS.Update(Deg2Rad(e.Gyroscope[0]), Deg2Rad(e.Gyroscope[1]), Deg2Rad(e.Gyroscope[2]), e.Accelerometer[0],
e.Accelerometer[1], e.Accelerometer[2], e.Magnetometer[0], e.Magnetometer[1], e.Magnetometer[2]);
var quaternion = new[] { AHRS.Quaternion[0], -AHRS.Quaternion[1], -AHRS.Quaternion[2], 0 };
var quaternionData = new QuaternionData(quaternion);
var conjugate = quaternionData.ConvertToConjugate();
var rotationMatrix = conjugate.ConvertToRotationMatrix();
_form3DcuboidB.RotationMatrix = rotationMatrix;
_stopWatch.Stop();
_stopWatch.Reset();
}
