From 00c8eddeb94bd97843f0759b42fb2072650ca0ad Mon Sep 17 00:00:00 2001
From: Davide Mor <davide.mor@skywarder.eu>
Date: Sun, 17 Sep 2023 12:01:39 +0200
Subject: [PATCH] [VN300] Fixed pipeline
---
src/shared/sensors/VN300/VN300.cpp | 10 +++++-----
src/shared/sensors/VN300/VN300Data.h | 28 +++++++++-------------------
2 files changed, 14 insertions(+), 24 deletions(-)
diff --git a/src/shared/sensors/VN300/VN300.cpp b/src/shared/sensors/VN300/VN300.cpp
index b4afaddbe..572e50631 100755
--- a/src/shared/sensors/VN300/VN300.cpp
+++ b/src/shared/sensors/VN300/VN300.cpp
@@ -831,11 +831,11 @@ QuaternionData VN300::sampleQuaternion()
}
// Parse the data
- data.quatTimestamp = TimestampTimer::getTimestamp();
- data.quatX = strtod(recvString.data() + indexStart + 1, &nextNumber);
- data.quatY = strtod(nextNumber + 1, &nextNumber);
- data.quatZ = strtod(nextNumber + 1, &nextNumber);
- data.quatW = strtod(nextNumber + 1, NULL);
+ data.quaternionTimestamp = TimestampTimer::getTimestamp();
+ data.quaternionX = strtod(recvString.data() + indexStart + 1, &nextNumber);
+ data.quaternionY = strtod(nextNumber + 1, &nextNumber);
+ data.quaternionZ = strtod(nextNumber + 1, &nextNumber);
+ data.quaternionW = strtod(nextNumber + 1, NULL);
return data;
}
diff --git a/src/shared/sensors/VN300/VN300Data.h b/src/shared/sensors/VN300/VN300Data.h
index 440c33225..bdf10ad7e 100755
--- a/src/shared/sensors/VN300/VN300Data.h
+++ b/src/shared/sensors/VN300/VN300Data.h
@@ -27,18 +27,6 @@
namespace Boardcore
{
-/**
- * @brief Structure to handle quaternion data
- */
-struct QuaternionData
-{
- uint64_t quatTimestamp;
- float quatX;
- float quatY;
- float quatZ;
- float quatW;
-};
-
/**
* @brief Structure to handle antenna A position units [m]
*/
@@ -128,8 +116,8 @@ struct VN300Data : public QuaternionData,
*/
// cppcheck-suppress uninitDerivedMemberVar
VN300Data()
- : QuaternionData{0, 0.0, 0.0, 0.0, 0.0}, MagnetometerData{0, 0.0, 0.0,
- 0.0},
+ : QuaternionData{0, 0.0, 0.0, 0.0, 0.0},
+ MagnetometerData{0, 0.0, 0.0, 0.0},
AccelerometerData{0, 0.0, 0.0, 0.0}, GyroscopeData{0, 0.0, 0.0, 0.0},
Ins_Lla{0, 0, 0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}
{
@@ -151,7 +139,8 @@ struct VN300Data : public QuaternionData,
static std::string header()
{
- return "quatTimestamp,quatX,quatY,quatZ,quatW,magneticFieldTimestamp,"
+ return "quaternionTimestamp,quaternionX,quaternionY,quaternionZ,"
+ "quaternionW,magneticFieldTimestamp,"
"magneticFieldX,magneticFieldY,magneticFieldZ,"
"accelerationTimestamp,accelerationX,accelerationY,"
"accelerationZ,angularSpeedTimestamp,angularSpeedX,"
@@ -162,10 +151,11 @@ struct VN300Data : public QuaternionData,
void print(std::ostream& os) const
{
- os << quatTimestamp << "," << quatX << "," << quatY << "," << quatZ
- << "," << quatW << "," << magneticFieldTimestamp << ","
- << magneticFieldX << "," << magneticFieldY << "," << magneticFieldZ
- << "," << accelerationTimestamp << "," << accelerationX << ","
+ os << quaternionTimestamp << "," << quaternionX << "," << quaternionY
+ << "," << quaternionZ << "," << quaternionW << ","
+ << magneticFieldTimestamp << "," << magneticFieldX << ","
+ << magneticFieldY << "," << magneticFieldZ << ","
+ << accelerationTimestamp << "," << accelerationX << ","
<< accelerationY << "," << accelerationZ << ","
<< angularSpeedTimestamp << "," << angularSpeedX << ","
<< angularSpeedY << "," << angularSpeedZ << "," << insTimestamp
--
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