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Draw vehicle using body coordinates which match fixed wing (ie, rotated 90 degrees from quad/rotor plane)

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Allen Ibara
2010-07-06 18:01:44 +00:00
parent 66fc051cf4
commit 7602f805bb
1 changed files with 2 additions and 1 deletions
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sw/in_progress/python/attitude_viz.py
+2 -1
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@@ -253,6 +253,7 @@ class MyGLCanvas(wx.glcanvas.GLCanvas):
for telemetry_quat in self.quats: for telemetry_quat in self.quats:
glPushMatrix() glPushMatrix()
glRotate(360 * math.acos(telemetry_quat.qi) / math.pi, telemetry_quat.qy, -telemetry_quat.qz, -telemetry_quat.qx) glRotate(360 * math.acos(telemetry_quat.qi) / math.pi, telemetry_quat.qy, -telemetry_quat.qz, -telemetry_quat.qx)
glRotate(-90, 1, 0, 0)
self.DrawVehicle(telemetry_quat.name) self.DrawVehicle(telemetry_quat.name)
glPopMatrix() glPopMatrix()
glTranslate(0, 2 * height / (len(self.quats)), 0) glTranslate(0, 2 * height / (len(self.quats)), 0)
@@ -320,7 +321,7 @@ class MainWindow(wx.Frame):
if __name__ == "__main__": if __name__ == "__main__":
global VEHICLE_QUATS, BAR_VALUES global VEHICLE_QUATS, BAR_VALUES
VEHICLE_QUATS = [ ["AHRS_DEBUG_QUAT", 2, "JOBY"], ["AHRS_DEBUG_QUAT", 10, "POINE"], ["AHRS_DEBUG_QUAT", 6, "XSENS Estimation"], ["BOOZ2_AHRS_REF_QUAT", 2, "Reference"]] VEHICLE_QUATS = [ ["AHRS_DEBUG_QUAT", 10, "POINE"], ["BOOZ2_AHRS_REF_QUAT", 2, "Reference"]]
BAR_VALUES = [ ["AIRSPEED", 3, "Airspeed (m/s) %i", 0, 1, 40], ["BOOZ2_RADIO_CONTROL", 5, "Throttle (%%) %i", 9600, 96 * 2, 100], ["BOOZ2_RADIO_CONTROL", 6, "Mode %i", -9600, -9600, 2]] BAR_VALUES = [ ["AIRSPEED", 3, "Airspeed (m/s) %i", 0, 1, 40], ["BOOZ2_RADIO_CONTROL", 5, "Throttle (%%) %i", 9600, 96 * 2, 100], ["BOOZ2_RADIO_CONTROL", 6, "Mode %i", -9600, -9600, 2]]
window_title = "Attitude_Viz" window_title = "Attitude_Viz"
try: try: