wip: remove offset for now

zauberzeug · Jan 20, 2025 · 7645442 · 7645442
1 parent 0881ccb
commit 7645442
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/rosys/hardware/imu.py b/rosys/hardware/imu.py
@@ -61,12 +61,16 @@ def handle_core_output(self, time: float, words: list[str]) -> None:
         if self.gyro_calibration < 1.0:
             return
 
-        self.rotation = rotation * self.offset_rotation.T
+        # TODO: refactor
+        # self.rotation = rotation * self.offset_rotation.T
+        self.rotation = rotation
         self.emit_measurement()
 
 
 class ImuSimulation(Imu, ModuleSimulation):
 
     def simulate_measurement(self, rotation: Rotation) -> None:
-        self.rotation = rotation * self.offset_rotation.T
+        # TODO: refactor
+        # self.rotation = rotation * self.offset_rotation.T
+        self.rotation = rotation
         self.emit_measurement()