Version bump to 0.8.22-alpha

	- Added driver library for JY901 sensor
	- Added controller application for JY901 sensor
	- Added covariance measurement possibility for
	  athmospheric pressure
	- Variance function exposed as a template
	- Template namespace fix

CMakeLists.txt

@@ -67,12 +67,12 @@ add_library(witmotion-wt31n SHARED
     ${MOC_WT31N}
     src/wt31n-uart.cpp
     )
-target_link_libraries(witmotion-wt31n witmotion-uart)
+target_link_libraries(witmotion-wt31n witmotion-uart Qt5::Core)
 add_executable(witmotionctl-wt31n
     ${MOC_WT31N}
     src/wt31n-control.cpp
     )
-target_link_libraries(witmotionctl-wt31n witmotion-wt31n)
+target_link_libraries(witmotionctl-wt31n witmotion-wt31n Qt5::Core)
 
 # WT901
 qt5_wrap_cpp(MOC_WT901
@@ -82,12 +82,27 @@ add_library(witmotion-wt901 SHARED
     ${MOC_WT901}
     src/wt901-uart.cpp
     )
-target_link_libraries(witmotion-wt901 witmotion-uart)
+target_link_libraries(witmotion-wt901 witmotion-uart Qt5::Core)
 add_executable(witmotionctl-wt901
     ${MOC_WT901}
     src/wt901-control.cpp
     )
-target_link_libraries(witmotionctl-wt901 witmotion-wt901)
+target_link_libraries(witmotionctl-wt901 witmotion-wt901 Qt5::Core)
+
+# JY901
+qt5_wrap_cpp(MOC_JY901
+    include/witmotion/jy901-uart.h
+    )
+add_library(witmotion-jy901 SHARED
+    ${MOC_JY01}
+    src/jy901-uart.cpp
+    )
+target_link_libraries(witmotion-jy901 witmotion-wt901 Qt5::Core)
+add_executable(witmotionctl-jy901
+    ${MOC_JY901}
+    src/jy901-control.cpp
+    )
+target_link_libraries(witmotionctl-jy901 witmotion-jy901 Qt5::Core)
 
 # EXAMPLES
 if(BUILD_EXAMPLES)

include/witmotion/jy901-uart.h

@@ -0,0 +1,44 @@
+#ifndef WITMOTION_JY901
+#define WITMOTION_JY901
+
+#include <QSerialPort>
+#include <QSerialPortInfo>
+
+#include <iostream>
+#include <string>
+#include <cmath>
+
+#include <unistd.h>
+
+#include "witmotion/types.h"
+#include "witmotion/util.h"
+#include "witmotion/serial.h"
+#include "witmotion/wt901-uart.h"
+
+namespace witmotion
+{
+namespace jy901
+{
+
+class QWitmotionJY901Sensor: public witmotion::wt901::QWitmotionWT901Sensor
+{   Q_OBJECT
+private:
+    static const std::set<witmotion_packet_id> registered_types;
+public:
+    virtual const std::set<witmotion_packet_id>* RegisteredPacketTypes();
+    virtual void SetMeasurements(const bool realtime_clock = false,
+                                 const bool acceleration = true,
+                                 const bool angular_velocity = true,
+                                 const bool euler_angles = true,
+                                 const bool magnetometer = true,
+                                 const bool orientation = false,
+                                 const bool port_status = false,
+                                 const bool altimeter = true);
+    QWitmotionJY901Sensor(const QString device,
+                          const QSerialPort::BaudRate rate,
+                          const uint32_t polling_period = 50);
+};
+
+}
+}
+#endif

include/witmotion/util.h

@@ -89,5 +89,18 @@ void decode_gps_accuracy(const witmotion_datapacket& packet,
                          float& local_accuracy,
                          float& horizontal_accuracy,
                          float& vertical_accuracy);
+
+/* MISCELLANEOUS UTILITIES */
+template<typename T> T variance(const std::vector<T>& array)
+{
+    T sum = std::accumulate(array.begin(), array.end(), 0.f);
+    T mean = sum / static_cast<T>(array.size());
+    T sq_dif = 0.f;
+    for(auto i = array.begin(); i != array.end(); i++)
+        sq_dif += std::pow((*i) - mean, 2);
+    sq_dif /= (array.size() > 1) ? static_cast<T>(array.size() - 1) : 1.f;
+    return std::sqrt(sq_dif);
+}
+
 }
 #endif