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 save(self, data): data = utility.decode_string_to_dict(data) self.cache.append(data) print "saved navdata #{}".format(len(self.cache)-1)