Darkages/SpotMicroESP32-Leika
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Ignore weird success flag on IMU update

Browse Source
This commit is contained in:
Niklas Jensen
2025-11-27 20:22:01 +01:00
parent 88ae331c96
commit 52b81554a3
1 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
esp32/include/peripherals/imu.h
+5 -5
View File
@@ -96,7 +96,7 @@ class IMU : public SensorBase<IMUAnglesMsg> {
}
bool update() override {
if (!_msg.success) return false;
//if (!_msg.success) return false;
#if FT_ENABLED(USE_MPU6050)
if (_imu.dmpPacketAvailable()) {
if (_imu.dmpGetCurrentFIFOPacket(fifoBuffer)) {
@@ -110,11 +110,11 @@ class IMU : public SensorBase<IMUAnglesMsg> {
#endif
#if FT_ENABLED(USE_ICM20948)
if (_imu.dataReady())
{
{
_imu.getAGMT();
_msg.rpy[0] = _imu.magX();
_msg.rpy[1] = _imu.magY();
_msg.rpy[2] = _imu.magZ();
_msg.rpy[0] = _imu.gyrX();
_msg.rpy[1] = _imu.gyrY();
_msg.rpy[2] = _imu.gyrZ();
}
#endif
#if FT_ENABLED(USE_BNO055)