Fix quaternion mapping. #26
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elpiel
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Jan 23, 2024
Cargo.toml
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| @@ -22,7 +22,7 @@ byteorder = { version = "1", default-features = false } | |||
| serde = { version = "1.0", default-features = false, features = ["derive"], optional = true } | |||
| mint = "^0.5.4" | |||
| bitflags = "1" | |||
| num-traits = "0.2.15" | |||
| num-traits = { version = "0.2.15", default-features = false} | |||
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It would be better to enable libm feature too as it will enable f32 and f64 functions
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| let x = x as f32 * scale; | ||
| let y = y as f32 * scale; | ||
| let z = z as f32 * scale; | ||
| let w = w as f32 * scale; | ||
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| let quat = mint::Quaternion { | ||
| v: mint::Vector3 { x, y, z }, | ||
| s: w, | ||
| }; |
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Good catch, one of my interns also pointed this issue
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Thanks for taking a look! Not sure what the workflow is but feel free to edit this pr as needed, otherwise after work I can make some changes. |
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alexbohm
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I decided to just let #28 take care of the no default features needed for no_std. |
Awesome! Can't want to try out the fix for the Quaternions! |
eupn
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Jan 24, 2024
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I'm using the quaternion output from the sensor with an esp32c6 and I noticed that the order of the data is wrong.
If I'm reading the mint docs correctly, the order should be x, y, z, w if building the Quat from an array. I switched to explicitly constructing the Quat so it's clearer how the fields are mapped.
Tested with hardware and now the sensor is reacting how I would expect.
I also had to disable the default features for the num-traits crate so that it would compile for a no_std environment.