Sensor Fusion

gabyc

Hello!
I am using the MMR sensor and I collect the data generated by the SensorFusion module. Now, I used sensorFusion.stop(); to pause the data collection; however this is not working. The data collection is infinite. Can I pause the sensor when I pause the algorithm? How else can I pause the sensor?

Thank you very much for your answers

Laura

You would need to post cost but just make sure you are following these steps:

libmetawear.mbl_mw_sensor_fusion_set_mode(s.device.board, SensorFusionMode.NDOF);
libmetawear.mbl_mw_sensor_fusion_set_acc_range(s.device.board, SensorFusionAccRange._8G)
libmetawear.mbl_mw_sensor_fusion_set_gyro_range(s.device.board, SensorFusionGyroRange._2000DPS)
libmetawear.mbl_mw_sensor_fusion_write_config(s.device.board)
signal = libmetawear.mbl_mw_sensor_fusion_get_data_signal(s.device.board, SensorFusionData.QUATERNION);
libmetawear.mbl_mw_datasignal_subscribe(signal, None, s.callback)
libmetawear.mbl_mw_sensor_fusion_enable_data(s.device.board, SensorFusionData.QUATERNION);
libmetawear.mbl_mw_sensor_fusion_start(s.device.board);
...
libmetawear.mbl_mw_sensor_fusion_stop(s.device.board);

Another example:

mbl_mw_sensor_fusion_set_acc_range(device.board, MBL_MW_SENSOR_FUSION_ACC_RANGE_8G)
mbl_mw_sensor_fusion_clear_enabled_mask(device.board)
mbl_mw_sensor_fusion_enable_data(device.board, MBL_MW_SENSOR_FUSION_DATA_LINEAR_ACC)
mbl_mw_sensor_fusion_write_config(device.board)
mbl_mw_sensor_fusion_start(device.board)
...
mbl_mw_sensor_fusion_stop(self.device.board)
mbl_mw_sensor_fusion_clear_enabled_mask(self.device.board)
mbl_mw_datasignal_unsubscribe(signal)

Laura

I just wrote this and testing it in Swift for you; just replicate in Java:

    let board = device.board
    counter = 0
    let accelRange = MBL_MW_SENSOR_FUSION_ACC_RANGE_16G
    let gyroRange = MBL_MW_SENSOR_FUSION_GYRO_RANGE_2000DPS
    let sensorFusionMode = MBL_MW_SENSOR_FUSION_MODE_IMU_PLUS
    mbl_mw_sensor_fusion_set_acc_range(board, accelRange)
    mbl_mw_sensor_fusion_set_gyro_range(board, gyroRange)
    mbl_mw_sensor_fusion_set_mode(board, sensorFusionMode)
    let fusionSignal = mbl_mw_sensor_fusion_get_data_signal(board, MBL_MW_SENSOR_FUSION_DATA_LINEAR_ACC)!
    mbl_mw_datasignal_log(fusionSignal, bridge(obj: self)) { (context, logger) in
        let this: Tests = bridge(ptr: context!)
        this.fuser = logger!
        print("Started logger: ", this.fuser)
    }
    mbl_mw_logging_start(board, 0)
    mbl_mw_sensor_fusion_clear_enabled_mask(board)
    mbl_mw_sensor_fusion_enable_data(board, MBL_MW_SENSOR_FUSION_DATA_LINEAR_ACC)
    mbl_mw_sensor_fusion_write_config(board)
    mbl_mw_sensor_fusion_start(board)
    DispatchQueue.main.asyncAfter(deadline: .now() + 5) {
        mbl_mw_sensor_fusion_stop(self.device.board)
        mbl_mw_sensor_fusion_clear_enabled_mask(self.device.board)
        let fusionLogger = self.fuser
        mbl_mw_logger_subscribe(fusionLogger, bridge(obj: self), { (context, dataPtr) in
            let timestamp = dataPtr!.pointee.timestamp
            let acc: MblMwCartesianFloat = dataPtr!.pointee.valueAs()
            print("acc : \(timestamp) \(acc)")
        })
        self.handlers.context = bridge(obj: self)
        self.handlers.received_progress_update = { (context, remainingEntries, totalEntries) in
            if remainingEntries == 0 {
                print("done \(Date())")
                let this: Tests = bridge(ptr: context!)
                this.expectation?.fulfill()
            }
        }
        self.handlers.received_unknown_entry = { (context, id, epoch, data, length) in
            print("received_unknown_entry")
        }
        self.handlers.received_unhandled_entry = { (context, data) in
            print("received_unhandled_entry")
        }
        mbl_mw_logging_download(board, 0, &self.handlers)
        print("stopping \(Date())")
    }