Implemented first Hangar-Service
Dependencies: CalibrateMagneto QuaternionMath
Fork of SML2 by
Diff: SensorFusion.h
- Revision:
- 34:01dec68de3ed
- Parent:
- 26:8f3e4e1a3acc
- Child:
- 35:fb6e4601adf3
diff -r bd56fc8aeb0a -r 01dec68de3ed SensorFusion.h --- a/SensorFusion.h Tue May 05 09:59:11 2015 +0000 +++ b/SensorFusion.h Wed May 06 07:50:02 2015 +0000 @@ -13,7 +13,7 @@ class Delegate { public: - virtual void sensorTick(Vector3 fused, Vector3 accel, Vector3 magneto, Vector3 gyro, Quaternion q) {} + virtual void sensorTick(float dt, Vector3 fused, Vector3 accel, Vector3 magneto, Vector3 gyro, Quaternion q) {} }; SensorFusion(I2C &i2c); @@ -23,6 +23,7 @@ void stop(); virtual void sensorUpdate(Vector3 gyro_degrees); // gyro's callback + void getMagnetometerCalibration(Vector3 &min, Vector3 &max); private: Delegate defaultDelegate; // to avoid check for existence every time @@ -32,6 +33,7 @@ Magnetometer magneto; Quaternion q; float const deltat, beta; + Vector3 fused; void updateFilter(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz); };