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

Files at this revision

API Documentation at this revision

Revision 5:d31487b34216, committed 2015-12-18

Comitter:
soulx
Date:
Fri Dec 18 21:21:36 2015 +0000
Parent:
4:1e5db958fd1b
Commit message:
-

Changed in this revision

MPU9250.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- 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

--- 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;