This is an example demo based on mscl for AHRS/IMU 3DX-GX3-25 and 3DX-CV5-AHRS sensor developed by Microstrain, which example codes we modified for easy integration or deployment. More examples for this kind of sensor could be found in LORD-Microstrain/MSCL/MSCL_Examples/Inertial. For more information on how to master the MSCL libraries, please refer to mscl documentation.
. # Project Top Folder
├── example_cpp # CPP
│ ├── bin # generated executable files of cpp inside
│ │ ├── class_demo # demo 2 generated executable file of cpp
│ │ └── simple_demo # demo 1 generated executable file of cpp
│ │
│ ├── build # folder for cmake build
│ │
│ ├── CMakeLists.txt # CMake configuration file for compile, assemble and link to the target
│ ├── cpp_mscl_class_demo.cpp # cpp demo 2
│ ├── cpp_mscl_demo_simple.cpp # cpp demo 1
│ │
│ ├── csv # folder for generated CSV data file
│ │ ├── Fri Feb 18 21:18:42 2022\012.csv
│ │ ├── Fri Feb 18 21:21:13 2022\012.csv
│ │ └── Fri Feb 18 21:24:14 2022\012.csv
│ │
│ ├── figure # folder for generated png figure file
│ │ ├── Fri Feb 18 21:21:14 2022\012.png
│ │ └── Fri Feb 18 21:24:14 2022\012.png
│ │
│ ├── matplotlibcpp.h # header file, please visit https://github.com/lava/matplotlib-cpp
│ └── rapidcsv.h # header file, please visit https://github.com/d99kris/rapidcsv
│
├── example_python # PYTHON
│ ├── csv # generated CSV file for data stream recording by Python
│ │ ├── data_2022-02-13 12:58:57.227380.csv
│ │ ├── data_2022-02-13 13:44:25.828601.csv
│ │ └── data_2022-02-13 13:47:43.859994.csv
│ │
│ ├── fig # generated png figure file after plotting the data stream recorded by Python
│ │ ├── 2022-02-13 13:42:35.099423.png
│ │ ├── 2022-02-13 13:43:56.991011.png
│ │ └── 2022-02-13 13:48:51.539636.png
│ │
│ └── python_mscl_demo # python source files
│ ├── python_mscl_class_demo.py # python demo 2
│ └── python_mscl_demo_simple.py # python demo 1
│
├── install_package # Go to https://github.com/LORD-MicroStrain/MSCL/blob/master/README.md
│ ├── c++-mscl_63.1.0_amd64.deb
│ └── python3-mscl_63.1.0_amd64.deb
│
├── mscl_demo_20220218-0.zip # version record zip, conresponding to commit
├── mscl_demo_20220218-1 Full feature.zip # version record zip, conresponding to coomit
│
└── README.md
Follow steps to install MSCL libraries for python3 or cpp on HowToUseMSCL.
Just run the source file with python3 in the terminal on top of the folder ./example_python/python_mscl_demo/
python3 python_mscl_demo_simple.pyChange the name of the source file in the command above.
python3 python_mscl_class_demo.pycd ./example_cpp/build
cmake ..
makeIf there are not any bug, you could run the executable file generated by:
cd ..
cd bin/
./example_demo
./example_class@ Parker LORD, MicroStrain, https://github.com/LORD-MicroStrain/MSCL. @Kristofer Berggren, https://github.com/d99kris/rapidcsv. @ Benno Evers, https://github.com/lava/matplotlib-cpp.