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update reconnect imu

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This commit is contained in:
QUYVN
2026-07-16 09:55:38 +07:00
parent 921bb91084
commit 0017128218
3 changed files with 21 additions and 21 deletions
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12
srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Drivers/HfiA9IMU/HfiA9IMU.cs
View File

@@ -190,12 +190,12 @@ namespace RobotNet10.RobotApp.Drivers.HfiA9IMU
var ori = CachedOrientation.Vector;
var t = ((IInertialMeasurementUnit)this).LastUpdateTime;
Console.WriteLine(
$"{DateTime.Now:HH:mm:ss.ffffff} [IMU_DATA] " +
$"t={t:HH:mm:ss.fff} " +
$"acc=({acc.X:F3},{acc.Y:F3},{acc.Z:F3}) " +
$"gyro=({gyro.X:F5},{gyro.Y:F5},{gyro.Z:F5}) " +
$"rpy=({ori.X:F5},{ori.Y:F5},{ori.Z:F5})");
// Console.WriteLine(
// $"{DateTime.Now:HH:mm:ss.ffffff} [IMU_DATA] " +
// $"t={t:HH:mm:ss.fff} " +
// $"acc=({acc.X:F3},{acc.Y:F3},{acc.Z:F3}) " +
// $"gyro=({gyro.X:F5},{gyro.Y:F5},{gyro.Z:F5}) " +
// $"rpy=({ori.X:F5},{ori.Y:F5},{ori.Z:F5})");
}
catch { }
}, null, dueTime: TimeSpan.Zero, period: _printDataInterval);

14
srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Drivers/WheeltecIMU/WheeltecN100IMU.cs
View File

@@ -202,13 +202,13 @@ namespace RobotNet10.RobotApp.Drivers.WheeltecIMU
var t = ((IInertialMeasurementUnit)this).LastUpdateTime;
var tempStr = temp.HasValue ? temp.Value.ToString("F2") : "NA";
Console.WriteLine(
$"{DateTime.Now:HH:mm:ss.ffffff} [IMU_DATA] " +
$"t={t:HH:mm:ss.fff} " +
$"acc=({acc.X:F3},{acc.Y:F3},{acc.Z:F3}) " +
$"gyro=({gyro.X:F5},{gyro.Y:F5},{gyro.Z:F5}) " +
$"rpy=({ori.X:F5},{ori.Y:F5},{ori.Z:F5}) " +
$"temp={tempStr}");
// Console.WriteLine(
// $"{DateTime.Now:HH:mm:ss.ffffff} [IMU_DATA] " +
// $"t={t:HH:mm:ss.fff} " +
// $"acc=({acc.X:F3},{acc.Y:F3},{acc.Z:F3}) " +
// $"gyro=({gyro.X:F5},{gyro.Y:F5},{gyro.Z:F5}) " +
// $"rpy=({ori.X:F5},{ori.Y:F5},{ori.Z:F5}) " +
// $"temp={tempStr}");
}
catch { }
}, null, dueTime: TimeSpan.Zero, period: _printDataInterval);

16
srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/appsettings.json
View File

@@ -464,7 +464,7 @@
"HinsonLidar":
{
"Enabled": true,
"DeviceId": "lidar-hinson-front",
"DeviceId": "scan",
"DeviceName": "Hinson FE-35FB-01000",
"DeviceType": "Lidar",
"DriverName": "HinsonFE35LidarDriver",
@@ -472,7 +472,7 @@
"Connection": {
"IpAddress": "192.168.100.88",
"Port": 8080,
"FrameId": "hinson-front",
"FrameId": "scan_1",
"MaxRangeM": 35.0
}
},
@@ -961,10 +961,10 @@
"ImuSensorId": "imu",
"ImuFrameId": "imu",
"EnableLidar1": true,
"EnableLidar2": true,
"EnableLidar2": false,
"EnableLidar3": false,
"Lidar1DeviceId": "scan_1",
"Lidar1SensorId": "scan_1",
"Lidar1DeviceId": "scan",
"Lidar1SensorId": "scan",
"Lidar2DeviceId": "scan_2",
"Lidar2SensorId": "scan_2",
"Lidar3DeviceId": "scan_3",
@@ -977,7 +977,7 @@
},
"Navigation": {
"Integration": {
"Enabled": true,
"Enabled": false,
"UpdateIntervalMs": 100,
"EnableNavigationIntegration": true,
"EnableOdometryDispatch": true,
@@ -1024,7 +1024,7 @@
"Integration": {
"Enabled": false,
"MarkerType": "Segment",
"LidarDeviceId": "scan_1",
"LidarDeviceId": "scan",
"LaserScanSensorId": "scan",
"LaserScanDispatchIntervalMs": 50,
"RectangleMarkerOptions": {
@@ -1074,7 +1074,7 @@
},
{
"FrameId": "base_link",
"ChildFrameId": "scan_1",
"ChildFrameId": "scan",
"Pose": {
"Position": { "X": 0.095, "Y": 0.01, "Z": 0.0 },
"Orientation": { "X": 0.0, "Y": 0.0, "Z": 0.0261769, "W": 0.9996573 }