BE@R lab / Mbed 2 deprecated MPU9250AHRS

Basic program to obtain properly-scaled gyro, accelerometer, and magnetometer data from the MPU-9250 9-axis motion sensor and do 9 DoF sensor fusion using the open-source Madgwick and Mahony sensor fusion filters. Running on STM32F401RE Nucleo board at 84 MHz achieves sensor fusion filter update rates of ~5000 Hz.

Dependencies:   mbed

Fork of MPU9250AHRS by Kris Winer

Diff: MPU9250.h

Revision:
5:d31487b34216
Parent:
3:3e04c1c03cab
--- a/MPU9250.h	Fri Dec 18 20:49:39 2015 +0000
+++ b/MPU9250.h	Fri Dec 18 21:21:36 2015 +0000
@@ -219,6 +219,7 @@
 #define Kp 5.1f * 5.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral
 #define Ki 1.0f
 
+
 float pitch, yaw, roll;
 float deltat = 0.0f;                             // integration interval for both filter schemes
 int lastUpdate = 0, firstUpdate = 0, Now = 0;    // used to calculate integration interval                               // used to calculate integration interval