Alvee Ahmed
/
virgo3_imuHandler
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Fork of
virgo3_imuHandler_Orion_PCB
by 
Van Nguyen
Diff: imuHandler.cpp
- Revision:
- 3:d7a72ce26117
- Parent:
- 1:927f1b3e4bf4
- Child:
- 4:599d5ac25b73
--- a/imuHandler.cpp Tue Apr 26 10:40:59 2016 +0000
+++ b/imuHandler.cpp Thu May 05 02:40:09 2016 +0000
@@ -395,9 +395,9 @@
movWindow_AngVel[1][movWindow_index_GyroAcc] = imu_BNO055.gyro.y;
movWindow_AngVel[2][movWindow_index_GyroAcc] = imu_BNO055.gyro.z;
- movWindow_LinAcc[0][movWindow_index_GyroAcc] = imu_BNO055.lia.x;
- movWindow_LinAcc[1][movWindow_index_GyroAcc] = imu_BNO055.lia.y;
- movWindow_LinAcc[2][movWindow_index_GyroAcc] = imu_BNO055.lia.z;
+ movWindow_LinAcc[0][movWindow_index_GyroAcc] = imu_BNO055.lia.x * 9.81 * 1000; //convert to mm/s2
+ movWindow_LinAcc[1][movWindow_index_GyroAcc] = imu_BNO055.lia.y * 9.81 * 1000; //convert to mm/s2
+ movWindow_LinAcc[2][movWindow_index_GyroAcc] = imu_BNO055.lia.z * 9.81 * 1000; //convert to mm/s2
for(int i=0; i<3; i++) {
AngVel[i] = generalFunctions::moving_window(movWindow_AngVel[i]/**/, movWindow_index_GyroAcc); /****** PROBABLY WILL BREAK HERE!!! ******/