Only set magnetometer gain if param is set #169
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This is required because the function `PhidgetSpatial_setAlgorithmMagnetometerGain` is present in the Phidgets Spatial MOT0109 API (https://www.phidgets.com/?prodid=1204#Tab_API), but was removed in the MOT0110 API (https://www.phidgets.com/?prodid=1205#Tab_API). This caused an exception to be thrown on the MOT0110 (ros-drivers#168 (comment)). This commit allows not setting the parameter on the MOT0110 and onwards, thereby avoiding the function call and the exception.
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Works now. Orientation data is in agreement with imu_filter_madgwick. Happy to test any further fixes if needed, for now we have the orientation data which we needed. Thanks for your help. |
clalancette
approved these changes
Nov 27, 2023
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This is required because the function
PhidgetSpatial_setAlgorithmMagnetometerGainis present in the Phidgets Spatial MOT0109 API (https://www.phidgets.com/?prodid=1204#Tab_API), but was removed in the MOT0110 API (https://www.phidgets.com/?prodid=1205#Tab_API). This caused an exception to be thrown on the MOT0110 (#168 (comment)).This commit allows not setting the parameter on the MOT0110 and onwards, thereby avoiding the function call and the exception.