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Fix the quaternion parameters

master
Jurij Podgoršek 2022-03-05 12:20:49 +01:00
parent 3f6933a220
commit a6469f57a6
1 changed files with 2 additions and 2 deletions
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4
osc32final/osc32final.ino
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@ -232,9 +232,9 @@ void loop() {
diff = q.getProduct(pq.getConjugate());
// Quaternion - rotacija
bundle.add("/quaternion").add(q.w).add(q.y).add(q.x).add(q.z); // W X Y Z
bundle.add("/quaternion").add(q.w).add(q.y * -1).add(q.z).add(q.x * -1); // W X Y Z
// Quaterion difference - rotacijska razlika (prejsnji reading - trenutni reading)
bundle.add("/quaternionDiff").add(diff.w).add(diff.y).add(diff.x).add(diff.z); // W X Y Z
bundle.add("/quaternionDiff").add(diff.w).add(diff.y * -1).add(diff.z).add(diff.x * -1); // W X Y Z
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity