Implemented first Hangar-Service
Dependencies: CalibrateMagneto QuaternionMath
Fork of SML2 by
Diff: SensorFusion.cpp
- Revision:
- 38:8bfa0c0cce4f
- Parent:
- 37:63d355f2cf6a
--- a/SensorFusion.cpp Wed May 13 13:41:57 2015 +0000 +++ b/SensorFusion.cpp Thu May 14 12:01:55 2015 +0000 @@ -4,14 +4,14 @@ #include "Logger.h" #include "Utils.h" -#define NINEAXIS +#define SIXAXIS SensorFusion::SensorFusion(I2C &i2c) : delegate(&defaultDelegate), accel(i2c), gyro(i2c), magneto(i2c), q(1, 0, 0, 0), // output quaternion deltat(0.010), // sec - beta(0.5), // correction gain + beta(1), // correction gain fused(0, 0, 0) { }