Class of MPU9250
Dependencies: AHRS_fillter mbed
Fork of MPU9250AHRS by
Diff: MPU9250.h
- Revision:
- 5:d31487b34216
- Parent:
- 3:3e04c1c03cab
- Child:
- 6:5665d427bceb
diff -r 1e5db958fd1b -r d31487b34216 MPU9250.h --- 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