gautierhattenberger on master
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uint64_tfor specific platforms. What do you guys think about this?
@noether The problem comes forward if you for example do integration using the timestamp difference. Usually also there the problem is minor since you will divide by a very large number so you end up with a 0 measurement when it overflows.
yeah, for the integration I also take the clock in milliseconds, and take the difference (and pray that difference will not be between before/after the overflow). I think for avoiding this kind of issue is to start a clock and reset it every time, maybe chibiOS offers this kind of service
Hi @jesusBV20. I have been thinking about how to implement it, but I had not time to do it, and it's not trivial...
There is currently nothing to draw arbitrary shapes (other than the SHAPE ones).
I think there should be an API to create a map layer, and to populate it. The GVF would be one particular application for it.
The API could allow primitive shapes, it could also match the QPainterPath methods?
I remember I was using Cairo in the past with GTK. Is there something similar with QT?
I'm now also finishing a big IMU rewrite and will make a PR for that soon. Main feature is Multi-IMU support, next to that FiFo IMU's(running at ~9kHz) and integration at IMU level.
Also makes use of ABI where sensors generate IMU_...RAW(not-scaled, sensor frame) ABI messages which the IMU translates into IMU...(scaled, IMU frame) and IMU_..._INT (scaled, IMU frame, integrated, optionally enabled).
There is one question/doubt I'm having on where to apply the body_to_imu rotation. Currently you have a 'sensor', 'imu' and 'body' frame. The new IMU has support for sensor rotations(with RMAT) and converts it automatically to IMU frame. But is there even a need for being able to access the sensors in IMU frame? Else I would prefer to move the body_to_imu rotation to the IMU and let it output IMU_GYRO, IMU_ACCEL and IMU_MAG in body frame. The other advantage is that I can combine the imu_to_sensor RMAT with the body_to_imu RMAT.
void imu_set_defaults_...(uint8_t abi_id, const struct Int32RMat *imu_to_sensor, const struct Int32Rates *neutral, const struct Int32Rates *scale);and then they can do a
AbiSendMsgIMU_..._RAW(IMU_ASPIRIN2_ID, now_ts, &mag);. The
imu.cwill then take this: scale it, rotate it (to body frame, by combining with the body2imu rmat) and send these values over ABI.