*** empty log message ***

sw/logalizer/ahrs_utils.h

@@ -21,6 +21,7 @@
 #define PrintC() {					\
     printf("C %.2f %.2f %.2f %.2f\n\n", C[0], C[1], C[2], C[3]); \
   }
+
 extern float C[4];
 
 extern float dcm00;

sw/logalizer/imuview.c

@@ -0,0 +1,79 @@
+#include <gtk/gtk.h>
+#include <stdio.h>
+#include <math.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <Ivy/ivy.h>
+#include <Ivy/ivyglibloop.h>
+
+#include "sliding_plot.h"
+
+GtkWidget *mag_plot;
+GtkWidget *gyro_plot;
+GtkWidget *accel_plot;
+
+void on_IMU_MAG(IvyClientPtr app, void *user_data, int argc, char *argv[]){
+  float mx = atof(argv[0]);
+  float my = atof(argv[1]);
+  float mz = atof(argv[2]);
+  gfloat mag[] = {mx, my, mz};
+  sliding_plot_update(mag_plot, mag);
+}
+
+void on_IMU_ACCEL(IvyClientPtr app, void *user_data, int argc, char *argv[]){
+  float ax = atof(argv[0]);
+  float ay = atof(argv[1]);
+  float az = atof(argv[2]);
+  gfloat accel[] = {ax, ay, az};
+  sliding_plot_update(accel_plot, accel);
+}
+
+void on_IMU_GYRO(IvyClientPtr app, void *user_data, int argc, char *argv[]){
+  float gx = atof(argv[0]);
+  float gy = atof(argv[1]);
+  float gz = atof(argv[2]);
+  gfloat rates[] = {gx, gy, gz};
+  sliding_plot_update(gyro_plot, rates);
+}
+
+int main (int argc, char** argv) {
+
+  gtk_init(&argc, &argv); 
+  
+  GtkWidget *window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
+  gtk_widget_set_size_request (window, 1280, 480);
+
+  GtkWidget *vbox1 = gtk_vbox_new (FALSE, 0);
+  gtk_container_add (GTK_CONTAINER (window), vbox1);
+ 
+  GtkWidget *frame = gtk_frame_new ("Mag");
+  gtk_container_set_border_width (GTK_CONTAINER (frame), 10);
+  gtk_box_pack_start (GTK_BOX (vbox1), frame, TRUE, TRUE, 0);
+  mag_plot = sliding_plot_new(3);
+  gtk_container_add (GTK_CONTAINER (frame), mag_plot );
+
+  frame = gtk_frame_new ("Accel");
+  gtk_container_set_border_width (GTK_CONTAINER (frame), 10);
+  gtk_box_pack_start (GTK_BOX (vbox1), frame, TRUE, TRUE, 0);
+  accel_plot = sliding_plot_new(3);
+  gtk_container_add (GTK_CONTAINER (frame), accel_plot );
+
+  frame = gtk_frame_new ("Gyro");
+  gtk_container_set_border_width (GTK_CONTAINER (frame), 10);
+  gtk_box_pack_start (GTK_BOX (vbox1), frame, TRUE, TRUE, 0);
+  gyro_plot = sliding_plot_new(3);
+  gtk_container_add (GTK_CONTAINER (frame), gyro_plot );
+
+  gtk_widget_show_all(window);
+
+
+  IvyInit ("imuview", "imuview READY", NULL, NULL, NULL, NULL);
+  IvyBindMsg(on_IMU_MAG, NULL, "^77 IMU_MAG (\\S*) (\\S*) (\\S*)");
+  IvyBindMsg(on_IMU_ACCEL, NULL, "^77 IMU_ACCEL (\\S*) (\\S*) (\\S*)");
+  IvyBindMsg(on_IMU_GYRO, NULL, "^77 IMU_GYRO (\\S*) (\\S*) (\\S*)");
+  IvyStart("127.255.255.255");
+
+  gtk_main();
+  return 0;
+}