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waterloo-rocketry / cansw_processor_stm

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Add IMU parsing support #8

Closed Joe-Joe-Joe-Joe closed 2 months ago

Joe-Joe-Joe-Joe commented 2 months ago

Code builds.

@Lucifersan can you please advise on what timestamp format you want, if any? I see you have a basic timer thing inside the thread, but the time that the VN outputs will be more accurate wrt when the readings themselves were generated (thus improving filter accuracy)

Lucifersan commented 2 months ago

I'm pretty sure fusion goes off change in time and basically nothing else. Currently, deltaTime is in seconds if it's not done incorrectly (ticks per second / clocks_per_sec) so just like a float that is seconds since last measurement is fine.