Alvee Ahmed / virgo3_imuHandler

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Fork of virgo3_imuHandler_Orion_PCB by Van Nguyen

Diff: imuHandler.cpp

Revision:
7:132bd7a919f5
Parent:
6:70818c388698
Child:
8:b3b784689d87
--- a/imuHandler.cpp	Mon May 16 08:00:42 2016 +0000
+++ b/imuHandler.cpp	Mon May 16 08:26:24 2016 +0000
@@ -136,25 +136,25 @@
 
             //convert angles to 0 to 2pi range
             for(int i=0; i<3; i++) {
-                if(posePRY[i] > 2*RAD_TO_DEG(M_PI))
-                    posePRY[i] -= 2*RAD_TO_DEG(M_PI);
-                if(posePRY[i] < 0.0)
-                    posePRY[i] += 2*RAD_TO_DEG(M_PI);
+                if(imu_Data.posePRY[i] > 2*RAD_TO_DEG(M_PI))
+                    imu_Data.posePRY[i] -= 2*RAD_TO_DEG(M_PI);
+                if(imu_Data.posePRY[i] < 0.0)
+                    imu_Data.posePRY[i] += 2*RAD_TO_DEG(M_PI);
             }
 
 
             //moving window average of pose angle
             for(int i=0; i<3; i++) {
-                movWindow_Pose[i][movWindow_index_Pose] = sin(posePRY[i]);
+                movWindow_Pose[i][movWindow_index_Pose] = sin(imu_Data.posePRY[i]);
                 Pose[i] = asin(generalFunctions::moving_window(movWindow_Pose[i], movWindow_len_Pose));
             }
 
             //convert angles to 0 to 2pi range
             for(int i=0; i<3; i++) {
-                if(posePRY[i] > 2*RAD_TO_DEG(M_PI))
-                    posePRY[i] -= 2*RAD_TO_DEG(M_PI);
-                if(posePRY[i] < 0.0)
-                    posePRY[i] += 2*RAD_TO_DEG(M_PI);
+                if(imu_Data.posePRY[i] > 2*RAD_TO_DEG(M_PI))
+                    imu_Data.posePRY[i] -= 2*RAD_TO_DEG(M_PI);
+                if(imu_Data.posePRY[i] < 0.0)
+                    imu_Data.posePRY[i] += 2*RAD_TO_DEG(M_PI);
             }
 
             /** Todo: offset->filter quaternion, use this quaternion to generate gravity vector, and consequently aaReal and aaWorld  **/