def serialEvent():
global count
global myFile
## read whole file and keep data in fileData
if(count == 0):
for i, lineF in enumerate(myFile):
fileData.append(lineF)
if(count >= len(fileData)):
print "out of file"
return
## get current line
line = fileData[count]
if(len(line) <> 0):
print "data line:"
line = line.split()
print line;
print "quaternion:";
AHRS.MadgwickAHRSupdate(float(line[1])*grad2rad,float(line[2])*grad2rad,float(line[3])*grad2rad,float(line[4]),float(line[5]),float(line[6]),float(line[7]),float(line[8]),float(line[9]))
#AHRS.MahonyAHRSupdate(float(line[1])*grad2rad,float(line[2])*grad2rad,float(line[3])*grad2rad,float(line[4]),float(line[5]),float(line[6]),float(line[7]),float(line[8]),float(line[9]))
q = [AHRS.q0,AHRS.q1,AHRS.q2,AHRS.q3];
print q;
print "euler:"
MadgwickQuaternionLibrary.quaternionToEuler(q[0],q[1],q[2],q[3])
euler[0] = MadgwickQuaternionLibrary.psi; # index 0 = psi = x
euler[1] = MadgwickQuaternionLibrary.theta; # index 1 = theta = y
euler[2] = MadgwickQuaternionLibrary.phi; # index 2 = phi = z
print euler;
count = count + 1
def read_from_port():
global myPort
line = myPort.readline()
line = line.split()
print ("raw data: " + str(line))
line = calibrate_raw_measures(int(line[1]),int(line[2]),int(line[3]),int(line[4]),int(line[5]),int(line[6]),int(line[7]),int(line[8]),int(line[9]))
#print "quaternion:";
#MadgwickAHRSupdate
#raw data - without calibration
#AHRS.MadgwickAHRSupdate(float(line[1])*grad2rad,float(line[2])*grad2rad,float(line[3])*grad2rad,float(line[4]),float(line[5]),float(line[6]),float(line[7]),float(line[8]),float(line[9]))
#calibrated data
AHRS.MadgwickAHRSupdate(float(line[0])*grad2rad,float(line[1])*grad2rad,float(line[2])*grad2rad,float(line[3]),float(line[4]),float(line[5]),float(line[6]),float(line[7]),float(line[8]))
#MahonyAHRSupdate
#raw data - without calibration
#AHRS.MahonyAHRSupdate(float(line[1])*grad2rad,float(line[2])*grad2rad,float(line[3])*grad2rad,float(line[4]),float(line[5]),float(line[6]),float(line[7]),float(line[8]),float(line[9]))
#calibrated data
#AHRS.MahonyAHRSupdate(float(line[0])*grad2rad,float(line[1])*grad2rad,float(line[2])*grad2rad,float(line[3]),float(line[4]),float(line[5]),float(line[6]),float(line[7]),float(line[8]))
q = [AHRS.q0,AHRS.q1,AHRS.q2,AHRS.q3];
#print q;
#print "euler:"
MadgwickQuaternionLibrary.quaternionToEuler(q[0],q[1],q[2],q[3])
euler[0] = MadgwickQuaternionLibrary.psi; # index 0 = psi = x
euler[1] = MadgwickQuaternionLibrary.theta; # index 1 = theta = y
euler[2] = MadgwickQuaternionLibrary.phi; # index 2 = phi = z
