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: main.cpp

Revision:
5:d31487b34216
Parent:
4:1e5db958fd1b
diff -r 1e5db958fd1b -r d31487b34216 main.cpp
--- a/main.cpp	Fri Dec 18 20:49:39 2015 +0000
+++ b/main.cpp	Fri Dec 18 21:21:36 2015 +0000
@@ -202,9 +202,9 @@
 
 
 
-    magbias[0] = ((xmax-xmin)/2.0f - xmax);  // User environmental x-axis correction in milliGauss, should be automatically calculated
-    magbias[1] = ((ymax-ymin)/2.0f - ymax);  // User environmental x-axis correction in milliGauss
-    magbias[2] = ((zmax-zmin)/2.0f - zmax);  // User environmental x-axis correction in milliGauss
+//    magbias[0] = ((xmax-xmin)/2.0f - xmax);  // User environmental x-axis correction in milliGauss, should be automatically calculated
+//    magbias[1] = ((ymax-ymin)/2.0f - ymax);  // User environmental x-axis correction in milliGauss
+//    magbias[2] = ((zmax-zmin)/2.0f - zmax);  // User environmental x-axis correction in milliGauss
 
     magbias[0] = -1.0;
     magbias[1] = -1.0;