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feat: add imu calibration for core

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David
2025-05-24 00:02:28 +00:00
parent 76ca9d81b2
commit 6b0ea58e95
2 changed files with 2 additions and 1 deletions
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1
src/core_pkg/core_pkg/core_node.py
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@@ -203,6 +203,7 @@ class SerialRelay(Node):
self.core_feedback.bno_gyro.x = float(parts[3]) self.core_feedback.bno_gyro.x = float(parts[3])
self.core_feedback.bno_gyro.y = float(parts[4]) self.core_feedback.bno_gyro.y = float(parts[4])
self.core_feedback.bno_gyro.z = float(parts[5]) self.core_feedback.bno_gyro.z = float(parts[5])
self.core_feedback.imu_calib = float(parts[6])
elif output.startswith("can_relay_fromvic,core,52"):#Accel x,y,z, heading *10 elif output.startswith("can_relay_fromvic,core,52"):#Accel x,y,z, heading *10
self.core_feedback.bno_accel.x = float(parts[3]) self.core_feedback.bno_accel.x = float(parts[3])
self.core_feedback.bno_accel.y = float(parts[4]) self.core_feedback.bno_accel.y = float(parts[4])

2
src/ros2_interfaces_pkg

Submodule src/ros2_interfaces_pkg updated: 3db6c94833...021dd0c3dd