Sensor Fusion

Comments

• Laura

  March 2021 edited March 2021

  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

  March 2021

  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())")
      }