Level IMU Data
Description
This object is being used to level received IMU Data.
App Builder Object
Source Code
function getOffset(axle) {
const val = parseFloat(inPorts[0].value[axle]);
const offset = parseFloat(context[`${axle}Ref`]);
let retVal;
if (val === offset) {
retVal = 0;
}
if (offset < 0 && val < 0) {
if (offset < val) {
retVal = (Math.abs(offset) - Math.abs(val));
} else if (offset > val) {
retVal = (Math.abs(val) - Math.abs(offset)) * (-1);
} else {
return 0;
}
}
if (offset >= 0 && val >= 0) {
retVal = (val - offset);
}
if (offset >= 0 && val < 0) {
const res = (offset + (Math.abs(val))) * (-1);
if (res < (-180)) {
retVal = (360 - Math.abs(res));
} else {
retVal = res;
}
}
if (offset <= 0 && val >= 0) {
const res = Math.abs(offset) + Math.abs(val);
if (res > 180) {
retVal = (180 - (res - 180)) * -1;
} else {
retVal = res;
}
}
if (retVal) {
return retVal.toFixed(2);
}
return null;
}
function execute() {
if (!context.initialized) {
context.rollRef = 0;
context.pitchRef = 0;
context.yawRef = 0;
context.initialized = true;
}
switch (trigger) {
case 0:
return [getOffset('roll'), getOffset('pitch'), getOffset('yaw'), inPorts[0].value.heading];
case 1:
context.rollRef = (inPorts[0].value.roll) || 0;
context.pitchRef = (inPorts[0].value.pitch) || 0;
context.headingRef = (inPorts[0].value.yaw) || 0;
break;
default: break;
}
return [];
}In Ports
Position | Name | Message Type | Description |
|---|---|---|---|
1 | IMU | IMU | This port is being used to receive a message containing the combined IMU data. |
2 | Set Level | Trigger | This port is being used to trigger the leveling of the IMU data. |
Out Ports
Position | Name | Message Type | Description |
|---|---|---|---|
1 | Roll | Number | This port is being used to send out the leveled roll value of the IMU data. |
2 | Pitch | Number | This port is being used to send out the leveled pitch value of the IMU data. |
3 | Yaw | Number | This port is being used to send out the leveled yaw value of the IMU data. |
4 | Heading | Number | This port is being used to send out the leveled heading value of the IMU data. |
Properties
Name | Description |
|---|---|
Object Name | The name of the object on the canvas. |
Show Code View | The switch to turn on code view for the Code Object. |
Duplicate code into custom Code Object |  |