add time info to accel msg

osc32bt/osc32bt.ino

@@ -58,6 +58,7 @@ uint8_t devStatus;      // return status after each device operation (0 = succes
 uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
 uint16_t fifoCount;     // count of all bytes currently in FIFO
 uint8_t fifoBuffer[64]; // FIFO storage buffer
+uint32_t time = 0;
 
 // orientation/motion vars
 Quaternion q;           // [w, x, y, z]         quaternion container
@@ -160,15 +161,20 @@ void loop() {
 
 #ifdef OUTPUT_READABLE_QUATERNION
     // display quaternion values in easy matrix form: w x y z
+    Quaternion previousQ(q.w,q.x,q.y,q.z);
+
     mpu.dmpGetQuaternion(&q, fifoBuffer);
     
-    //oscmsg = qOSC(q.w, q.x, q.y, q.z);
+    //compute the differential rotation between the previous and new orientation
+    Quaternion diff = q.getProduct(previousQ.getConjugate());
+
+    //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);
-
+    
     SLIPBTSerial.beginPacket();
     qmsg.send(SLIPBTSerial);
     SLIPBTSerial.endPacket();
@@ -227,10 +233,14 @@ void loop() {
 
 #endif
 
-    // Send (accel) over serial
+    // Send (accel) and time elapsed over serial
+    int prevTime = time;
+    time = millis();
     msg.add(AcX);
     msg.add(AcY);
     msg.add(AcZ);
+    msg.add(time - prevTime);
+
     
     SLIPSerial.beginPacket();
     msg.send(SLIPSerial);