From db434f18b77a056746422ab7655f6851d6a9c0ec Mon Sep 17 00:00:00 2001
From: Martin <martin.krauser@gmail.com>
Date: Fri, 4 Mar 2022 15:52:55 +0100
Subject: [PATCH] Sending quaternion differential as separate msg

---
 osc32bt/osc32bt.ino | 32 ++++++++++++++++++++++++--------
 1 file changed, 24 insertions(+), 8 deletions(-)

diff --git a/osc32bt/osc32bt.ino b/osc32bt/osc32bt.ino
index e0c74b8..7968784 100644
--- a/osc32bt/osc32bt.ino
+++ b/osc32bt/osc32bt.ino
@@ -84,7 +84,7 @@ OSCMessage msg("/accel/");
 OSCMessage gmsg("/gyro/");
 OSCMessage emsg("/error/");
 OSCMessage kmsg("/keys/");
-OSCMessage qmsg("/quaternion/");
+OSCMessage quaternionMessage("/quaternion/");
 
 void setup() {
   Wire.begin();
@@ -170,20 +170,36 @@ void loop() {
 
     //oscmsg = qOSC(q.w, q.x, q.y, q.z, diff.w, diff.x, diff.y, diff,z);
     
-    qmsg.add(q.w);
-    qmsg.add(q.x);
-    qmsg.add(q.y);
-    qmsg.add(q.z);
+    quaternionMessage.add(q.w);
+    quaternionMessage.add(q.x);
+    quaternionMessage.add(q.y);
+    quaternionMessage.add(q.z);
     
     SLIPBTSerial.beginPacket();
-    qmsg.send(SLIPBTSerial);
+    quaternionMessage.send(SLIPBTSerial);
     SLIPBTSerial.endPacket();
     
     SLIPSerial.beginPacket();
-    qmsg.send(SLIPSerial);
+    quaternionMessage.send(SLIPSerial);
     SLIPSerial.endPacket();
+
+    quaternionMessage.empty();
+
+    quaternionDiffMessage.add(diff.w);
+    quaternionDiffMessage.add(diff.x);
+    quaternionDiffMessage.add(diff.y);
+    quaternionDiffMessage.add(diff.z);
+    
+    SLIPBTSerial.beginPacket();
+    quaternionDiffMessage.send(SLIPBTSerial);
+    SLIPBTSerial.endPacket();
+    
+    SLIPSerial.beginPacket();
+    quaternionDiffMessage.send(SLIPSerial);
+    SLIPSerial.endPacket();
+
+    quaternionDiffMessage.empty();
     
-    qmsg.empty();
 #endif