From e28bf1a48f18575b7acb8213e2058dad2ccf7935 Mon Sep 17 00:00:00 2001 From: Sebastian Reichel Date: Mon, 29 Oct 2012 17:48:10 +0100 Subject: use time from parameter --- ctrl/kinematics.vala | 14 +------------- 1 file changed, 1 insertion(+), 13 deletions(-) diff --git a/ctrl/kinematics.vala b/ctrl/kinematics.vala index 0f07f62..9993582 100644 --- a/ctrl/kinematics.vala +++ b/ctrl/kinematics.vala @@ -40,8 +40,6 @@ public class Kinematics { /* filter tuning constant */ double beta; - uint i = 0; - public Kinematics() { reset(); @@ -49,15 +47,7 @@ public class Kinematics { beta = Math.sqrt(3.0 / 4.0) * (Math.PI * (gyroMeasError / 180.0)); } - public void update(double gx, double gy, double gz, double ax, double ay, double az, double mx, double my, double mz, double time) { - //var deltat = time/1000000.0; - //stdout.printf(@"$deltat\n"); - var deltat = 0.01; - - i++; - - //stdout.printf(@"$i $gx $gy $gz\n"); - + public void update(double gx, double gy, double gz, double ax, double ay, double az, double mx, double my, double mz, double deltat) { /* auxiliary variables to avoid reapeated calcualtions */ var halfSEq_1 = 0.5 * SEq_1; var halfSEq_2 = 0.5 * SEq_2; @@ -157,8 +147,6 @@ public class Kinematics { result[AXIS.X] = phi; /* roll */ result[AXIS.Y] = theta; /* pitch */ result[AXIS.Z] = psi; /* yaw */ - - stdout.printf(@"$i $(degree(result[AXIS.X]))\t$(degree(result[AXIS.Y]))\t$(degree(result[AXIS.Z]))\n"); } public double[] get_data() { -- cgit v1.2.3