//
// update - gets latest data from sensors if it is time to read them again
//
void Sensors::update() {
// gps
gps->update();
// barometer
float temp, pressure;
if (barometer->readRawValues(&temp, &pressure)) {
// calculate altitude
sensorData.pressAltitude = 44330 * (1.0 - pow(pressure / PRESSURE_SEA_LEVEL, 0.1903));
}
// mag/accel/gyro
float gyroValues[3], accelValues[3], magValues[3];
if (mag->readRawValues(magValues) && accel->readRawValues(accelValues) && gyro->readRawValues(gyroValues)) {
for (int i = 0; i++; i < 3) {
sensorData.gyro_b[i] = gyroValues[i];
}
updateRotationMatrix(gyroValues, accelValues, magValues);
eulerAngles();
}
// airspeed
float airspeedBody[3] = {singleWire->readAirspeed(), 0, 0};
sensorData.airspeedRaw = airspeedBody[0];
matrixRotate(airspeedBody, sensorData.airspeed_e);
}
void CCAMERA::Reset()
{
m_parametersChanged = true;
m_projectionMatrix = glm::mat4( 1.0f );
m_projectionMatrixInv = glm::mat4( 1.0f );
m_rotationMatrix = glm::mat4( 1.0f );
m_rotationMatrixAux = glm::mat4( 1.0f );
m_lastPosition = wxPoint( 0, 0 );
m_zoom = 1.0f;
m_zoom_t0 = 1.0f;
m_zoom_t1 = 1.0f;
m_camera_pos = m_camera_pos_init;
m_camera_pos_t0 = m_camera_pos_init;
m_camera_pos_t1 = m_camera_pos_init;
m_lookat_pos = m_board_lookat_pos_init;
m_lookat_pos_t0 = m_board_lookat_pos_init;
m_lookat_pos_t1 = m_board_lookat_pos_init;
m_rotate_aux = SFVEC3F( 0.0f );
m_rotate_aux_t0 = SFVEC3F( 0.0f );
m_rotate_aux_t1 = SFVEC3F( 0.0f );
updateRotationMatrix();
updateViewMatrix();
m_viewMatrixInverse = glm::inverse( m_viewMatrix );
m_scr_nX.clear();
m_scr_nY.clear();
rebuildProjection();
}
void CCAMERA::Interpolate( float t )
{
wxASSERT( t >= 0.0f );
const float t0 = 1.0f - t;
m_camera_pos = m_camera_pos_t0 * t0 + m_camera_pos_t1 * t;
m_lookat_pos = m_lookat_pos_t0 * t0 + m_lookat_pos_t1 * t;
m_rotate_aux = m_rotate_aux_t0 * t0 + m_rotate_aux_t1 * t;
m_zoom = m_zoom_t0 * t0 + m_zoom_t1 * t;
m_parametersChanged = true;
updateRotationMatrix();
rebuildProjection();
}
void CCAMERA::RotateZ( float aAngleInRadians )
{
m_rotate_aux.z += aAngleInRadians;
updateRotationMatrix();
}
