rafaelcaricio/Open_Duck_Mini_Runtime
1
0
Fork 0
mirror of https://github.com/apirrone/Open_Duck_Mini_Runtime.git synced 2025-09-03 03:33:54 +00:00
Code Issues Projects Releases Packages Wiki Activity Actions

update

Browse source
This commit is contained in:
apirrone 2025-08-01 10:25:13 +02:00
parent 2ea34de1db
commit 1a84c47231
1 changed files with 8 additions and 4 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

12
mini_bdx_runtime/mini_bdx_runtime/imu.py
View file

@ -139,19 +139,23 @@ class Imu:
took = time.time() - s
time.sleep(max(0, 1 / self.sampling_freq - took))
def get_data(self, as_euler=False, as_mat=False):
def get_data(self, rot_as_euler=False, rot_as_mat=False, gyro_as_euler=False):
try:
self.last_imu_data = self.imu_queue.get(False) # non blocking
except Exception:
pass
try:
if as_euler:
if rot_as_euler:
euler = R.from_quat(self.last_imu_data["orientation"]).as_euler("xyz")
self.last_imu_data["orientation"] = euler
elif as_mat:
elif rot_as_mat:
mat = R.from_quat(self.last_imu_data["orientation"]).as_matrix()
self.last_imu_data["orientation"] = mat
if gyro_as_euler:
euler = R.from_quat(self.last_imu_data["gyro"]).as_euler("xyz")
self.last_imu_data["gyro"] = euler
return self.last_imu_data
@ -164,7 +168,7 @@ if __name__ == "__main__":
imu = Imu(50, calibrate=False, upside_down=False)
# imu = Imu(50, upside_down=False)
while True:
data = imu.get_data(as_mat=True)
data = imu.get_data(rot_as_mat=True, gyro_as_euler=True)
if data is None:
continue
# print(data)