本文整理汇总了C++中AHRS::UpdateDisplacement方法的典型用法代码示例。如果您正苦于以下问题：C++ AHRS::UpdateDisplacement方法的具体用法？C++ AHRS::UpdateDisplacement怎么用？C++ AHRS::UpdateDisplacement使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类AHRS的用法示例。
在下文中一共展示了AHRS::UpdateDisplacement方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: SetAHRSData
void SetAHRSData(AHRSProtocol::AHRSUpdate& ahrs_update) {
/* Update base IMU class variables */
ahrs->yaw = ahrs_update.yaw;
ahrs->pitch = ahrs_update.pitch;
ahrs->roll = ahrs_update.roll;
ahrs->compass_heading = ahrs_update.compass_heading;
ahrs->yaw_offset_tracker->UpdateHistory(ahrs_update.yaw);
/* Update AHRS class variables */
// 9-axis data
ahrs->fused_heading = ahrs_update.fused_heading;
// Gravity-corrected linear acceleration (world-frame)
ahrs->world_linear_accel_x = ahrs_update.linear_accel_x;
ahrs->world_linear_accel_y = ahrs_update.linear_accel_y;
ahrs->world_linear_accel_z = ahrs_update.linear_accel_z;
// Gyro/Accelerometer Die Temperature
ahrs->mpu_temp_c = ahrs_update.mpu_temp;
// Barometric Pressure/Altitude
ahrs->altitude = ahrs_update.altitude;
ahrs->baro_pressure = ahrs_update.barometric_pressure;
// Magnetometer Data
ahrs->cal_mag_x = ahrs_update.cal_mag_x;
ahrs->cal_mag_y = ahrs_update.cal_mag_y;
ahrs->cal_mag_z = ahrs_update.cal_mag_z;
// Status/Motion Detection
ahrs->is_moving =
(((ahrs_update.sensor_status &
NAVX_SENSOR_STATUS_MOVING) != 0)
? true : false);
ahrs->is_rotating =
(((ahrs_update.sensor_status &
NAVX_SENSOR_STATUS_YAW_STABLE) != 0)
? false : true);
ahrs->altitude_valid =
(((ahrs_update.sensor_status &
NAVX_SENSOR_STATUS_ALTITUDE_VALID) != 0)
? true : false);
ahrs->is_magnetometer_calibrated =
(((ahrs_update.cal_status &
NAVX_CAL_STATUS_MAG_CAL_COMPLETE) != 0)
? true : false);
ahrs->magnetic_disturbance =
(((ahrs_update.sensor_status &
NAVX_SENSOR_STATUS_MAG_DISTURBANCE) != 0)
? true : false);
ahrs->quaternionW = ahrs_update.quat_w;
ahrs->quaternionX = ahrs_update.quat_x;
ahrs->quaternionY = ahrs_update.quat_y;
ahrs->quaternionZ = ahrs_update.quat_z;
ahrs->UpdateDisplacement( ahrs->world_linear_accel_x,
ahrs->world_linear_accel_y,
ahrs->update_rate_hz,
ahrs->is_moving);
ahrs->yaw_angle_tracker->NextAngle(ahrs->GetYaw());
}