Revision: 9085
http://playerstage.svn.sourceforge.net/playerstage/?rev=9085&view=rev
Author: jpgr87
Date: 2012-01-01 02:17:38 +0000 (Sun, 01 Jan 2012)
Log Message:
-----------
Applied Patch #3464033: Fixing full state of RazorIMU
Modified Paths:
--------------
code/player/trunk/server/drivers/imu/RazorIMU.cc
Modified: code/player/trunk/server/drivers/imu/RazorIMU.cc
===================================================================
--- code/player/trunk/server/drivers/imu/RazorIMU.cc 2012-01-01 02:16:41 UTC
(rev 9084)
+++ code/player/trunk/server/drivers/imu/RazorIMU.cc 2012-01-01 02:17:38 UTC
(rev 9085)
@@ -575,19 +575,19 @@
imu_data_fullstate.pose.ppitch = data.pitch;
imu_data_fullstate.pose.pyaw = data.yaw;
- imu_data_fullstate.vel.px = data.gyr_x;
- imu_data_fullstate.vel.py = data.gyr_y;
- imu_data_fullstate.vel.pz = data.gyr_z;
- imu_data_fullstate.vel.proll = data.gyr_x;
- imu_data_fullstate.vel.ppitch = data.gyr_y;
- imu_data_fullstate.vel.pyaw = data.gyr_z;
+ imu_data_fullstate.vel.px = 0;
+ imu_data_fullstate.vel.py = 0;
+ imu_data_fullstate.vel.pz = 0;
+ imu_data_fullstate.vel.proll = 0;
+ imu_data_fullstate.vel.ppitch = 0;
+ imu_data_fullstate.vel.pyaw = 0;
imu_data_fullstate.acc.px = data.acc_x;
imu_data_fullstate.acc.py = data.acc_y;
imu_data_fullstate.acc.pz = data.acc_z;
- imu_data_fullstate.acc.ppitch = 0;
- imu_data_fullstate.acc.pyaw = 0;
- imu_data_fullstate.acc.proll = 0;
+ imu_data_fullstate.acc.ppitch = data.gyr_x;
+ imu_data_fullstate.acc.pyaw = data.gyr_y;
+ imu_data_fullstate.acc.proll = data.gyr_z;
Publish(device_addr, PLAYER_MSGTYPE_DATA,
PLAYER_IMU_DATA_FULLSTATE, &imu_data_fullstate,
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