A simple Qt application which displays a rotating cube. The cube rotates based on quaternion values received via some embedded device over a serial connection. This application is useful in demonstrating the functionality of an IMU or AHRS system on an embedded device.
The following is the message format to use when communicating from an embedded device to this application. The numbers represent the byte offsets.
| Header | Scalar | X | Y | Z | Footer |
|---|---|---|---|---|---|
| 0x55 | Float | Float | Float | Float | "\r\n" |
The value 0x55 is the header of each message. The "\r\n" is the footer of each message. Scalar is the scalar component of the quaternion as a binary float. The X, Y, and Z values are all binary floats and they make up the vector part of the quaternion. Note that this application expects all floats to be IEEE floats transmitted in little endian byte order.