def __init__(self, parent=None):
QMainWindow.__init__(self, parent)
self.initialized = False
self.altitude_error_i = 0
self.acc_scale = 0.0
self.start_time = time.time()
self.altitude_error = 0
self.inst_acceleration = 0.0
self.delta = 0
self.estimated_velocity = 0.0
self.estimated_altitude = 0.0
self.last_time = time.time()
self.last_orig_altitude = 0
self.last_estimated_altitude = 0
ipcon = IPConnection()
self.imu = IMU(UID_IMU, ipcon)
self.barometer = Barometer(UID_BAROMETER, ipcon)
ipcon.connect(HOST, PORT)
# Turn leds and orientation calculation off, to save calculation time
# for the IMU Brick. This makes sure that the measurements are taken
# in equidistant 2ms intervals
self.imu.leds_off()
self.imu.orientation_calculation_off()
# Turn averaging of in the Barometer Bricklet to make sure that
# the data is without delay
self.barometer.set_averaging(0, 0, 0)
red_pen = QPen(Qt.red)
red_pen.setWidth(5)
plot_list = [ #['', Qt.blue, self.get_orig_value],
['', red_pen, self.get_estimated_value]
]
self.plot_widget = PlotWidget('Height [m]', plot_list)
self.plot_widget.stop = False
self.setCentralWidget(self.plot_widget)
self.timer = QTimer()
self.timer.timeout.connect(self.update)
self.timer.start(6)
HOST = "localhost"
PORT = 4223
UID = "ayQskyoNrCW" # Change to your UID
from tinkerforge.ip_connection import IPConnection
from tinkerforge.brick_imu import IMU
# Quaternion callback
def cb_quaternion(x, y, z, w):
print("x: " + str(x) + "\ny: " + str(y) + "\nz: " + str(z) + "\nw: " +
str(w) + "\n")
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
imu = IMU(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Set period for quaternion callback to 1s
imu.set_quaternion_period(1000)
# Register quaternion callback
imu.register_callback(imu.CALLBACK_QUATERNION, cb_quaternion)
raw_input('Press key to exit\n') # Use input() in Python 3
ipcon.disconnect()
