From f1f57a1811a5663c5c6e7b6260020d7276d02136 Mon Sep 17 00:00:00 2001
From: Markus Grotz <markus.grotz@kit.edu>
Date: Fri, 2 Oct 2015 15:32:11 +0200
Subject: [PATCH] disabled median filter for XSens IMU
---
source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDevice.cpp | 5 ++++-
source/RobotAPI/libraries/drivers/XsensIMU/XsensIMU.cpp | 2 +-
2 files changed, 5 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDevice.cpp b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDevice.cpp
index 2a69eeb8d..0a204832d 100644
--- a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDevice.cpp
+++ b/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));
}
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/XsensIMU.cpp b/source/RobotAPI/libraries/drivers/XsensIMU/XsensIMU.cpp
index 6b90025ca..964e38661 100644
--- a/source/RobotAPI/libraries/drivers/XsensIMU/XsensIMU.cpp
+++ b/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);
--
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