def navdataEvent(self, data):
data = utility.decode_string_to_dict(data)
# correct for other axis scheme
for key in ('y', 'phi', 'psi'):
data[key] *= -1
# new data-step --> parse previous step (with or without slamdata)
self.parseDataStep()
# refresh navdata
data['h'] = data['altitude']
self.diffnavdata = self.diff(data, self.navdata)
self.navdata = data
# reset diffslamdata to detect future missing packet
self.diffslamdata = None
def navdataEvent(self, data):
data = utility.decode_string_to_dict(data)
# correct for other axis scheme
for key in ('y', 'phi', 'psi'):
data[key] *= -1
# new data-step --> parse previous step (with or without slamdata)
self.parseDataStep()
# refresh navdata
data['h'] = data['altitude']
self.diffnavdata = self.diff(data, self.navdata)
self.navdata = data
# reset diffslamdata to detect future missing packet
self.diffslamdata = None
def slamdataEvent(self, data):
data = utility.decode_string_to_dict(data)
del data['rotmx']
self.diffslamdata = self.diff(data, self.slamdata)
self.slamdata = data
def save(self, data):
data = utility.decode_string_to_dict(data)
self.cache.append(data)
print "saved navdata #{}".format(len(self.cache) - 1)
def slamdataEvent(self, data):
data = utility.decode_string_to_dict(data)
del data['rotmx']
self.diffslamdata = self.diff(data, self.slamdata)
self.slamdata = data
def save(self, data):
data = utility.decode_string_to_dict(data)
self.cache.append(data)
print "saved navdata #{}".format(len(self.cache)-1)
