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removed non-existent gyro accuracy data (wow why didn't I write these 

tests earlier)
This commit is contained in:
myles-parfeniuk 2024-11-16 12:33:00 -08:00
parent 24c6d7ba03
commit ce55fc27df
4 changed files with 17 additions and 58 deletions
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14
include/BNO08x.hpp
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@ -151,20 +151,18 @@ class BNO08x
uint16_t get_raw_mems_magf_Y(); uint16_t get_raw_mems_magf_Y();
uint16_t get_raw_mems_magf_Z(); uint16_t get_raw_mems_magf_Z();
void get_calibrated_gyro_velocity(float& x, float& y, float& z, BNO08xAccuracy& accuracy); void get_calibrated_gyro_velocity(float& x, float& y, float& z);
float get_calibrated_gyro_velocity_X(); float get_calibrated_gyro_velocity_X();
float get_calibrated_gyro_velocity_Y(); float get_calibrated_gyro_velocity_Y();
float get_calibrated_gyro_velocity_Z(); float get_calibrated_gyro_velocity_Z();
BNO08xAccuracy get_calibrated_gyro_accuracy();
void get_uncalibrated_gyro_velocity(float& x, float& y, float& z, float& bx, float& by, float& bz, BNO08xAccuracy& accuracy); void get_uncalibrated_gyro_velocity(float& x, float& y, float& z, float& bx, float& by, float& bz);
float get_uncalibrated_gyro_velocity_X(); float get_uncalibrated_gyro_velocity_X();
float get_uncalibrated_gyro_velocity_Y(); float get_uncalibrated_gyro_velocity_Y();
float get_uncalibrated_gyro_velocity_Z(); float get_uncalibrated_gyro_velocity_Z();
float get_uncalibrated_gyro_bias_X(); float get_uncalibrated_gyro_bias_X();
float get_uncalibrated_gyro_bias_Y(); float get_uncalibrated_gyro_bias_Y();
float get_uncalibrated_gyro_bias_Z(); float get_uncalibrated_gyro_bias_Z();
BNO08xAccuracy get_uncalibrated_gyro_accuracy();
void get_integrated_gyro_velocity(float& x, float& y, float& z); void get_integrated_gyro_velocity(float& x, float& y, float& z);
float get_integrated_gyro_velocity_X(); float get_integrated_gyro_velocity_X();
@ -388,16 +386,16 @@ class BNO08x
uint16_t raw_accel_X, raw_accel_Y, raw_accel_Z, uint16_t raw_accel_X, raw_accel_Y, raw_accel_Z,
accel_accuracy; ///<Raw acceleration readings (See SH-2 Ref. Manual 6.5.8) accel_accuracy; ///<Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)
uint16_t raw_lin_accel_X, raw_lin_accel_Y, raw_lin_accel_Z, uint16_t raw_lin_accel_X, raw_lin_accel_Y, raw_lin_accel_Z,
accel_lin_accuracy; ///<Raw linear acceleration (See SH-2 Ref. Manual 6.5.10) accel_lin_accuracy; ///<Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)
uint16_t raw_calib_gyro_X, raw_calib_gyro_Y, raw_calib_gyro_Z, calib_gyro_accuracy; ///<Raw gyro reading (See SH-2 Ref. Manual 6.5.13) uint16_t raw_calib_gyro_X, raw_calib_gyro_Y, raw_calib_gyro_Z; ///<Raw gyro reading (See SH-2 Ref. Manual 6.5.13)
uint16_t raw_quat_I, raw_quat_J, raw_quat_K, raw_quat_real, raw_quat_radian_accuracy, uint16_t raw_quat_I, raw_quat_J, raw_quat_K, raw_quat_real, raw_quat_radian_accuracy,
quat_accuracy; ///<Raw quaternion reading (See SH-2 Ref. Manual 6.5.44) quat_accuracy; ///<Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)
uint16_t integrated_gyro_velocity_X, integrated_gyro_velocity_Y, uint16_t integrated_gyro_velocity_X, integrated_gyro_velocity_Y,
integrated_gyro_velocity_Z; ///<Raw gyro angular velocity reading from integrated gyro rotation vector (See SH-2 Ref. Manual 6.5.44) integrated_gyro_velocity_Z; ///<Raw gyro angular velocity reading from integrated gyro rotation vector (See SH-2 Ref. Manual 6.5.44)
uint16_t gravity_X, gravity_Y, gravity_Z, uint16_t gravity_X, gravity_Y, gravity_Z,
gravity_accuracy; ///<Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11) gravity_accuracy; ///<Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)
uint16_t raw_uncalib_gyro_X, raw_uncalib_gyro_Y, raw_uncalib_gyro_Z, raw_bias_X, raw_bias_Y, raw_bias_Z, uint16_t raw_uncalib_gyro_X, raw_uncalib_gyro_Y, raw_uncalib_gyro_Z, raw_bias_X, raw_bias_Y,
uncalib_gyro_accuracy; ///<Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14) raw_bias_Z; ///<Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)
uint16_t raw_magf_X, raw_magf_Y, raw_magf_Z, uint16_t raw_magf_X, raw_magf_Y, raw_magf_Z,
magf_accuracy; ///<Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16) magf_accuracy; ///<Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)
uint8_t tap_detector; ///<Tap detector reading (See SH-2 Ref. Manual 6.5.27) uint8_t tap_detector; ///<Tap detector reading (See SH-2 Ref. Manual 6.5.27)

13
include/BNO08xTestHelper.hpp
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@ -45,7 +45,6 @@ class BNO08xTestHelper
float calib_gyro_vel_x; float calib_gyro_vel_x;
float calib_gyro_vel_y; float calib_gyro_vel_y;
float calib_gyro_vel_z; float calib_gyro_vel_z;
BNO08xAccuracy calib_gyro_accuracy;
float uncalib_gyro_vel_x; float uncalib_gyro_vel_x;
float uncalib_gyro_vel_y; float uncalib_gyro_vel_y;
@ -53,7 +52,6 @@ class BNO08xTestHelper
float uncalib_gyro_drift_x; float uncalib_gyro_drift_x;
float uncalib_gyro_drift_y; float uncalib_gyro_drift_y;
float uncalib_gyro_drift_z; float uncalib_gyro_drift_z;
BNO08xAccuracy uncalib_gyro_accuracy;
float magf_x; float magf_x;
float magf_y; float magf_y;
@ -219,9 +217,6 @@ class BNO08xTestHelper
if (report_data->uncalib_gyro_drift_z != 0.0f) if (report_data->uncalib_gyro_drift_z != 0.0f)
new_data = true; new_data = true;
if (report_data->uncalib_gyro_accuracy != BNO08xAccuracy::UNDEFINED)
new_data = true;
return new_data; return new_data;
} }
@ -238,9 +233,6 @@ class BNO08xTestHelper
if (report_data->calib_gyro_vel_z != 0.0f) if (report_data->calib_gyro_vel_z != 0.0f)
new_data = true; new_data = true;
if (report_data->calib_gyro_accuracy != BNO08xAccuracy::UNDEFINED)
new_data = true;
return new_data; return new_data;
} }
@ -331,10 +323,9 @@ class BNO08xTestHelper
imu->get_linear_accel(report_data->lin_accel_x, report_data->lin_accel_y, report_data->lin_accel_z, report_data->lin_accel_accuracy); imu->get_linear_accel(report_data->lin_accel_x, report_data->lin_accel_y, report_data->lin_accel_z, report_data->lin_accel_accuracy);
imu->get_gravity(report_data->grav_x, report_data->grav_y, report_data->grav_z, report_data->grav_accuracy); imu->get_gravity(report_data->grav_x, report_data->grav_y, report_data->grav_z, report_data->grav_accuracy);
imu->get_calibrated_gyro_velocity( imu->get_calibrated_gyro_velocity(
report_data->calib_gyro_vel_x, report_data->calib_gyro_vel_y, report_data->calib_gyro_vel_z, report_data->calib_gyro_accuracy); report_data->calib_gyro_vel_x, report_data->calib_gyro_vel_y, report_data->calib_gyro_vel_z);
imu->get_uncalibrated_gyro_velocity(report_data->uncalib_gyro_vel_x, report_data->uncalib_gyro_vel_y, report_data->uncalib_gyro_vel_z, imu->get_uncalibrated_gyro_velocity(report_data->uncalib_gyro_vel_x, report_data->uncalib_gyro_vel_y, report_data->uncalib_gyro_vel_z,
report_data->uncalib_gyro_drift_x, report_data->uncalib_gyro_drift_y, report_data->uncalib_gyro_drift_z, report_data->uncalib_gyro_drift_x, report_data->uncalib_gyro_drift_y, report_data->uncalib_gyro_drift_z);
report_data->uncalib_gyro_accuracy);
imu->get_magf(report_data->magf_x, report_data->magf_y, report_data->magf_z, report_data->magf_accuracy); imu->get_magf(report_data->magf_x, report_data->magf_y, report_data->magf_z, report_data->magf_accuracy);
} }

38
source/BNO08x.cpp
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@ -1718,7 +1718,6 @@ void BNO08x::update_lin_accelerometer_data(uint16_t* data, uint8_t status)
*/ */
void BNO08x::update_calibrated_gyro_data(uint16_t* data, uint8_t status) void BNO08x::update_calibrated_gyro_data(uint16_t* data, uint8_t status)
{ {
calib_gyro_accuracy = status;
raw_calib_gyro_X = data[0]; raw_calib_gyro_X = data[0];
raw_calib_gyro_Y = data[1]; raw_calib_gyro_Y = data[1];
raw_calib_gyro_Z = data[2]; raw_calib_gyro_Z = data[2];
@ -1734,7 +1733,6 @@ void BNO08x::update_calibrated_gyro_data(uint16_t* data, uint8_t status)
*/ */
void BNO08x::update_uncalibrated_gyro_data(uint16_t* data, uint8_t status) void BNO08x::update_uncalibrated_gyro_data(uint16_t* data, uint8_t status)
{ {
uncalib_gyro_accuracy = status;
raw_uncalib_gyro_X = data[0]; raw_uncalib_gyro_X = data[0];
raw_uncalib_gyro_Y = data[1]; raw_uncalib_gyro_Y = data[1];
raw_uncalib_gyro_Z = data[2]; raw_uncalib_gyro_Z = data[2];
@ -2395,7 +2393,6 @@ void BNO08x::reset_all_data()
raw_calib_gyro_X = 0U; raw_calib_gyro_X = 0U;
raw_calib_gyro_Y = 0U; raw_calib_gyro_Y = 0U;
raw_calib_gyro_Z = 0U; raw_calib_gyro_Z = 0U;
calib_gyro_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
// reset quaternion to nan // reset quaternion to nan
raw_quat_I = 0U; raw_quat_I = 0U;
@ -2420,7 +2417,6 @@ void BNO08x::reset_all_data()
raw_bias_X = 0U; raw_bias_X = 0U;
raw_bias_Y = 0U; raw_bias_Y = 0U;
raw_bias_Z = 0U; raw_bias_Z = 0U;
uncalib_gyro_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
raw_magf_X = 0U; raw_magf_X = 0U;
raw_magf_Y = 0U; raw_magf_Y = 0U;
@ -2889,7 +2885,7 @@ BNO08xAccuracy BNO08x::get_linear_accel_accuracy()
* *
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::get_raw_mems_accel(uint16_t& x, uint16_t &y, uint16_t &z) void BNO08x::get_raw_mems_accel(uint16_t& x, uint16_t& y, uint16_t& z)
{ {
x = mems_raw_accel_X; x = mems_raw_accel_X;
y = mems_raw_accel_X; y = mems_raw_accel_X;
@ -2935,7 +2931,7 @@ uint16_t BNO08x::get_raw_mems_accel_Z()
* *
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::get_raw_mems_gyro(uint16_t& x, uint16_t &y, uint16_t &z) void BNO08x::get_raw_mems_gyro(uint16_t& x, uint16_t& y, uint16_t& z)
{ {
x = mems_raw_gyro_X; x = mems_raw_gyro_X;
y = mems_raw_gyro_Y; y = mems_raw_gyro_Y;
@ -2981,7 +2977,7 @@ uint16_t BNO08x::get_raw_mems_gyro_Z()
* *
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::get_raw_mems_magf(uint16_t& x, uint16_t &y, uint16_t &z) void BNO08x::get_raw_mems_magf(uint16_t& x, uint16_t& y, uint16_t& z)
{ {
x = mems_raw_magf_X; x = mems_raw_magf_X;
y = mems_raw_magf_Y; y = mems_raw_magf_Y;
@ -3024,16 +3020,14 @@ uint16_t BNO08x::get_raw_mems_magf_Z()
* @param x Reference variable to save X axis angular velocity * @param x Reference variable to save X axis angular velocity
* @param y Reference variable to save Y axis angular velocity * @param y Reference variable to save Y axis angular velocity
* @param z Reference variable to save Z axis angular velocity * @param z Reference variable to save Z axis angular velocity
* @param accuracy Reference variable to save reported gyro accuracy.
* *
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::get_calibrated_gyro_velocity(float& x, float& y, float& z, BNO08xAccuracy& accuracy) void BNO08x::get_calibrated_gyro_velocity(float& x, float& y, float& z)
{ {
x = q_to_float(raw_calib_gyro_X, GYRO_Q1); x = q_to_float(raw_calib_gyro_X, GYRO_Q1);
y = q_to_float(raw_calib_gyro_Y, GYRO_Q1); y = q_to_float(raw_calib_gyro_Y, GYRO_Q1);
z = q_to_float(raw_calib_gyro_Z, GYRO_Q1); z = q_to_float(raw_calib_gyro_Z, GYRO_Q1);
accuracy = static_cast<BNO08xAccuracy>(calib_gyro_accuracy);
} }
/** /**
@ -3066,16 +3060,6 @@ float BNO08x::get_calibrated_gyro_velocity_Z()
return q_to_float(raw_calib_gyro_Z, GYRO_Q1); return q_to_float(raw_calib_gyro_Z, GYRO_Q1);
} }
/**
* @brief Get calibrated gyro accuracy.
*
* @return Accuracy of calibrated gyro.
*/
BNO08xAccuracy BNO08x::get_calibrated_gyro_accuracy()
{
return static_cast<BNO08xAccuracy>(calib_gyro_accuracy);
}
/** /**
* @brief Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is given but * @brief Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is given but
* not applied. * not applied.
@ -3086,11 +3070,10 @@ BNO08xAccuracy BNO08x::get_calibrated_gyro_accuracy()
* @param b_x Reference variable to save X axis drift estimate * @param b_x Reference variable to save X axis drift estimate
* @param b_y Reference variable to save Y axis drift estimate * @param b_y Reference variable to save Y axis drift estimate
* @param b_z Reference variable to save Z axis drift estimate * @param b_z Reference variable to save Z axis drift estimate
* @param accuracy Reference variable to save reported gyro accuracy.
* *
* @return void, nothing to return * @return void, nothing to return
*/ */
void BNO08x::get_uncalibrated_gyro_velocity(float& x, float& y, float& z, float& b_x, float& b_y, float& b_z, BNO08xAccuracy& accuracy) void BNO08x::get_uncalibrated_gyro_velocity(float& x, float& y, float& z, float& b_x, float& b_y, float& b_z)
{ {
x = q_to_float(raw_uncalib_gyro_X, GYRO_Q1); x = q_to_float(raw_uncalib_gyro_X, GYRO_Q1);
y = q_to_float(raw_uncalib_gyro_Y, GYRO_Q1); y = q_to_float(raw_uncalib_gyro_Y, GYRO_Q1);
@ -3098,7 +3081,6 @@ void BNO08x::get_uncalibrated_gyro_velocity(float& x, float& y, float& z, float&
b_x = q_to_float(raw_bias_X, GYRO_Q1); b_x = q_to_float(raw_bias_X, GYRO_Q1);
b_y = q_to_float(raw_bias_Y, GYRO_Q1); b_y = q_to_float(raw_bias_Y, GYRO_Q1);
b_z = q_to_float(raw_bias_Z, GYRO_Q1); b_z = q_to_float(raw_bias_Z, GYRO_Q1);
accuracy = static_cast<BNO08xAccuracy>(uncalib_gyro_accuracy);
} }
/** /**
@ -3161,16 +3143,6 @@ float BNO08x::get_uncalibrated_gyro_bias_Z()
return q_to_float(raw_bias_Z, GYRO_Q1); return q_to_float(raw_bias_Z, GYRO_Q1);
} }
/**
* @brief Get uncalibrated gyro accuracy.
*
* @return Accuracy of uncalibrated gyro.
*/
BNO08xAccuracy BNO08x::get_uncalibrated_gyro_accuracy()
{
return static_cast<BNO08xAccuracy>(uncalib_gyro_accuracy);
}
/** /**
* @brief Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5.44) * @brief Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5.44)
* *

10
test/SingleReportTests.cpp
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@ -443,10 +443,9 @@ TEST_CASE("Enable/Disable Uncalibrated Gyro", "[SingleReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Enabled Report Rx Data Trial %d Success: Uncalib Gyro: vX: %.2lf vY: %.2lf vZ: %.2lf driftX: %.2lf driftY: %.2lf driftZ: " "Enabled Report Rx Data Trial %d Success: Uncalib Gyro: vX: %.2lf vY: %.2lf vZ: %.2lf driftX: %.2lf driftY: %.2lf driftZ: "
"%.2lf Accuracy: %s", "%.2lf",
(i + 1), report_data.uncalib_gyro_vel_x, report_data.uncalib_gyro_vel_y, report_data.uncalib_gyro_vel_z, (i + 1), report_data.uncalib_gyro_vel_x, report_data.uncalib_gyro_vel_y, report_data.uncalib_gyro_vel_z,
report_data.uncalib_gyro_drift_x, report_data.uncalib_gyro_drift_y, report_data.uncalib_gyro_drift_z, report_data.uncalib_gyro_drift_x, report_data.uncalib_gyro_drift_y, report_data.uncalib_gyro_drift_z);
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.uncalib_gyro_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
@ -525,9 +524,8 @@ TEST_CASE("Enable/Disable Calibrated Gyro", "[SingleReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Enabled Report Rx Data Trial %d Success: Calibrated Gyro: vX: %.2lf vY: %.2lf vZ: " "Enabled Report Rx Data Trial %d Success: Calibrated Gyro: vX: %.2lf vY: %.2lf vZ: "
"%.2lf Accuracy: %s", "%.2lf",
(i + 1), report_data.calib_gyro_vel_x, report_data.calib_gyro_vel_y, report_data.calib_gyro_vel_z, (i + 1), report_data.calib_gyro_vel_x, report_data.calib_gyro_vel_y, report_data.calib_gyro_vel_z);
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.calib_gyro_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
// reset all data used in report test // reset all data used in report test