static void
gst_transcode_bin_set_property (GObject * object,
guint prop_id, const GValue * value, GParamSpec * pspec)
{
GstTranscodeBin *self = GST_TRANSCODE_BIN (object);
switch (prop_id) {
case PROP_PROFILE:
GST_OBJECT_LOCK (self);
self->profile = g_value_dup_object (value);
GST_OBJECT_UNLOCK (self);
break;
case PROP_AVOID_REENCODING:
GST_OBJECT_LOCK (self);
self->avoid_reencoding = g_value_get_boolean (value);
GST_OBJECT_UNLOCK (self);
break;
case PROP_AUDIO_FILTER:
_set_filter (self, g_value_dup_object (value), &self->audio_filter);
break;
case PROP_VIDEO_FILTER:
_set_filter (self, g_value_dup_object (value), &self->video_filter);
break;
default:
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
}
}
/*
update the accel and gyro vectors
*/
bool AP_InertialSensor_MPU9250::update( void )
{
if (!wait_for_sample(1000)) {
return false;
}
_previous_accel[0] = _accel[0];
// pull the data from the timer shared data buffer
uint8_t idx = _shared_data_idx;
_gyro[0] = _shared_data[idx]._gyro_filtered;
_accel[0] = _shared_data[idx]._accel_filtered;
_gyro[0].rotate(_board_orientation);
_gyro[0] *= GYRO_SCALE;
_gyro[0] -= _gyro_offset[0];
_accel[0].rotate(_board_orientation);
_accel[0] *= MPU9250_ACCEL_SCALE_1G;
// rotate for bbone default
_accel[0].rotate(ROTATION_ROLL_180_YAW_90);
_gyro[0].rotate(ROTATION_ROLL_180_YAW_90);
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
// PXF has an additional YAW 180
_accel[0].rotate(ROTATION_YAW_180);
_gyro[0].rotate(ROTATION_YAW_180);
#endif
Vector3f accel_scale = _accel_scale[0].get();
_accel[0].x *= accel_scale.x;
_accel[0].y *= accel_scale.y;
_accel[0].z *= accel_scale.z;
_accel[0] -= _accel_offset[0];
if (_last_filter_hz != _mpu6000_filter) {
_set_filter(_mpu6000_filter);
_last_filter_hz = _mpu6000_filter;
}
_have_sample_available = false;
return true;
}
/*
update the accel and gyro vectors
*/
bool AP_InertialSensor_MPU9250::update( void )
{
// pull the data from the timer shared data buffer
uint8_t idx = _shared_data_idx;
Vector3f gyro = _shared_data[idx]._gyro_filtered;
Vector3f accel = _shared_data[idx]._accel_filtered;
_have_sample_available = false;
accel *= MPU9250_ACCEL_SCALE_1G;
gyro *= GYRO_SCALE;
// rotate for bbone default
accel.rotate(ROTATION_ROLL_180_YAW_90);
gyro.rotate(ROTATION_ROLL_180_YAW_90);
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
// PXF has an additional YAW 180
accel.rotate(ROTATION_YAW_180);
gyro.rotate(ROTATION_YAW_180);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
// NavIO has different orientation, assuming RaspberryPi is right
// way up, and PWM pins on NavIO are at the back of the aircraft
accel.rotate(ROTATION_ROLL_180_YAW_90);
gyro.rotate(ROTATION_ROLL_180_YAW_90);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
accel.rotate(ROTATION_ROLL_180);
gyro.rotate(ROTATION_ROLL_180);
#endif
_rotate_and_offset_gyro(_gyro_instance, gyro);
_rotate_and_offset_accel(_accel_instance, accel);
if (_last_filter_hz != _imu.get_filter()) {
_set_filter(_imu.get_filter());
_last_filter_hz = _imu.get_filter();
}
return true;
}
