minimu9-ahrs
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Feature request: column headers before start of output
I'm trying to make sense of the numbers that this program outputs, but I often have trouble with that. For example; when I run minimu9-ahrs --mode raw
I get something like this:
pi@raspberrypi:~$ minimu9-ahrs --mode raw
1552 -5487 3618 -2591 2925 -1362 249 -50 -11
1538 -5494 3644 -2516 2940 -1407 -3 -48 -21
1538 -5494 3644 -2529 2955 -1377 25 -88 -15
1538 -5494 3644 -2550 2966 -1380 -15 -58 2
1538 -5494 3644 -2566 2930 -1360 19 -58 -1
1557 -5539 3610 -2564 2924 -1402 20 -69 248
1557 -5539 3610 -2315 2922 -1378 32 -69 253
1557 -5539 3610 -2580 2882 -1407 -17 -49 2
In the readme I read that it is the raw sensor data from the magnetometor, accelerometer, and gyro
. But I'm unsure which numbers belong to which, and I also see 9 numbers, meaning that every one of them contains 3 numbers. To find out I'm finding myself going through the C++ sources, and since I'm not so proficient in that I'm having a hard time doing that.
The same accounts for the Euler output:
pi@raspberrypi:~$ minimu9-ahrs --output euler
0.000 0.000 -0.000 0.038 -0.029 -0.938 -0.773 -0.089 0.833
0.078 0.018 -0.033 0.037 -0.035 -0.934 -0.773 -0.089 0.833
0.283 0.045 -0.156 0.047 -0.037 -0.940 -0.772 -0.066 0.825
0.576 0.077 -0.330 0.052 -0.043 -0.973 -0.772 -0.066 0.825
0.705 -0.172 -2.766 0.078 0.021 -1.025 -0.784 -0.091 0.816
0.827 -0.186 -2.862 0.064 -0.002 -1.041 -0.784 -0.091 0.816
0.708 -0.198 -3.132 0.044 0.031 -1.022 -0.765 -0.143 0.832
0.344 -0.123 -3.034 0.031 0.104 -1.039 -0.765 -0.143 0.832
0.118 0.213 -2.702 0.072 0.023 -1.086 -0.765 -0.143 0.832
179.688 179.171 177.896 0.097 -0.014 -1.057 -0.765 -0.143 0.832
178.823 178.513 178.669 0.105 -0.014 -0.902 -0.765 -0.143 0.832
177.665 178.101 179.839 0.006 0.064 -0.968 -0.771 -0.175 0.818
176.831 177.625 -179.274 0.151 -0.062 -1.006 -0.771 -0.175 0.818
175.861 177.146 -179.156 0.156 0.008 -0.981 -0.771 -0.175 0.818
174.918 176.925 -179.504 0.105 0.084 -0.912 -0.771 -0.175 0.818
The first three are compass, pitch and roll, but what are the other numbers?
It would be great if the first line of the output contains some simple column headers saying what the numbers are. In my opinion it would double the usefulness of the (for the rest awesome) library.