disabled median filter for XSens IMU

source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDevice.cpp

@@ -496,7 +496,7 @@ namespace IMU
                 case eGaussianFusion:
                     if (GaussianFuseCurrentState())
                     {
-                        SendEvent(CIMUEvent(m_LastFrameTimeStamp, CIMUEvent::eOnIMUIntegratedState, this, m_FusedIMUState));
+                        SendEvent(CIMUEvent(m_LastFrameTimeStamp, CIMUEvent::eOnIMUFusedCycle, this, m_FusedIMUState));
 
                         if (IntegrateCurrentState())
                         {
@@ -507,8 +507,11 @@ namespace IMU
                     break;
 
                 case eNoFusion:
+
+
                     if (IntegrateCurrentState())
                     {
+                        SendEvent(CIMUEvent(m_LastFrameTimeStamp, CIMUEvent::eOnIMUFusedCycle, this, m_FusedIMUState));
                         SendEvent(CIMUEvent(m_LastFrameTimeStamp, CIMUEvent::eOnIMUIntegratedState, this, m_IntegratedIMUState));
                     }
 

source/RobotAPI/libraries/drivers/XsensIMU/XsensIMU.cpp

@@ -112,7 +112,7 @@ void XsensIMU::onInitIMU()
     SetDispatchingMode(IMU::IIMUEventDispatcher::eDecoupled);
     SetMaximalPendingEvents(5);
 
-    IMUDevice.SetFusion(IMU::CIMUDevice::eMeanFusion, 4);
+    //IMUDevice.SetFusion(IMU::CIMUDevice::eGaussianFusion, 2);
     IMUDevice.RegisterEventDispatcher(this);
 
     IMUDevice.Connect(_IMU_DEVICE_DEFAUL_CONNECTION_, IMU::CIMUDevice::eSamplingFrequency_120HZ);