move imufusion into imu part

DocGarbanzo · Sep 25, 2024 · 39d03fe · 39d03fe
1 parent 38eaf9c
commit 39d03fe
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/donkeycar/parts/imu.py b/donkeycar/parts/imu.py
@@ -164,8 +164,9 @@ def poll(self):
             self.time = new_time
         delta_t = new_time - self.time
         # convert from radians to degrees
-        gyro = self.offset.update(self.mpu.gyro / 180 * math.pi)
-        accel = self.mpu.acceleration / 9.81
+        scaled_gyro = np.array(self.mpu.gyro) / 180 * math.pi
+        gyro = self.offset.update(scaled_gyro)
+        accel = np.array(self.mpu.acceleration) / 9.81
         self.ahrs.update_no_magnetometer(gyro, accel, delta_t)
 
         euler = self.ahrs.quaternion.to_euler()