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Commit 1f8322f6 authored by Philemon Prevot's avatar Philemon Prevot
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Correcting mag bytes reading

parent 9d1050d5
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1 merge request!3Add packet timestamp file logging to QHBv3 parser and correct wrong mag data bytes reading
......@@ -246,7 +246,7 @@ SensorXYZData NormalizeSensorsData(SensorXYZData raw_data, float range, unsigned
SensorXYZData normalized_data;
double dataMaxValue = pow(2, resolutionBits) / 2;
normalized_data.timeStamp = (double)raw_data.timeStamp / 1000;
normalized_data.timeStamp = (uint32_t)raw_data.timeStamp;
normalized_data.X = range / dataMaxValue * raw_data.X;
normalized_data.Y = range / dataMaxValue * raw_data.Y;
......@@ -394,11 +394,11 @@ void IMUFileWriter::ProcessDecodedMessage(int msgFunction, int msgPayloadLength,
dataXYZ.timeStamp = timeStamp;
if (dataSize == 2)
{
dataXYZ.X = BUILD_INT16(msgPayload[17 + i * lengthPerSample],msgPayload[17 + i * lengthPerSample+1]);
dataXYZ.Y = BUILD_INT16(msgPayload[17 + dataSize + i * lengthPerSample],msgPayload[17 +dataSize + i * lengthPerSample+1]);
dataXYZ.Z = BUILD_INT16(msgPayload[17 + 2*dataSize + i * lengthPerSample],msgPayload[17 +2*dataSize + i * lengthPerSample+1]);
dataXYZ.X = BUILD_INT16(msgPayload[17 + i * lengthPerSample+1],msgPayload[17 + i * lengthPerSample]);
dataXYZ.Y = BUILD_INT16(msgPayload[17 + dataSize + i * lengthPerSample+1],msgPayload[17 +dataSize + i * lengthPerSample]);
dataXYZ.Z = BUILD_INT16(msgPayload[17 + 2*dataSize + i * lengthPerSample+1],msgPayload[17 +2*dataSize + i * lengthPerSample]);
}
SensorXYZData normalized_data = NormalizeSensorsData(dataXYZ, rangeScale, resolutionBits);
SensorXYZData normalized_data = dataXYZ; //NormalizeSensorsData(dataXYZ, rangeScale, resolutionBits);
outfile << "MAG, " << normalized_data.timeStamp;
outfile << ", " << normalized_data.X;
outfile << ", " << normalized_data.Y;
......
......@@ -285,7 +285,7 @@ public:
typedef struct SensorXYZData_s
{
double timeStamp;
uint32_t timeStamp;
double X;
double Y;
double Z;
......
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