Implemented first Hangar-Service
Dependencies: CalibrateMagneto QuaternionMath
Fork of SML2 by
Diff: Gyroscope.cpp
- Revision:
- 46:fd5a62296b12
- Parent:
- 40:8e852115fe55
diff -r 6251c0169f4f -r fd5a62296b12 Gyroscope.cpp --- a/Gyroscope.cpp Wed May 27 11:45:00 2015 +0000 +++ b/Gyroscope.cpp Wed May 27 13:01:43 2015 +0000 @@ -64,15 +64,15 @@ for (size_t i = 0; i < 6; i++) buffer[i] = read_reg(0x02 + i); */ - + read_reg(0x02, buffer, sizeof buffer); - + const int16_t x = buffer[1] << 8 | buffer[0]; const int16_t y = buffer[3] << 8 | buffer[2]; const int16_t z = buffer[5] << 8 | buffer[4]; //write_reg(0x15, 1 << 7); // new data interrupt enabled - + //static Vector3 const offsets(-0.16, -0.17, 0.015); return (Vector3(x, y, z) * gyro_resolution);// - offsets;