Diff: LSM9DS0.cpp

Revision:

4:90f024c6b406

Parent:

3:bc0db184f092

Child:

5:56ff956c499e

--- a/LSM9DS0.cpp	Thu Apr 28 09:06:50 2016 +0000
+++ b/LSM9DS0.cpp	Sat Jun 18 09:48:50 2016 +0000
@@ -867,14 +867,14 @@
  
     /* Integrate the gyro data(deg/s) over time to get angle */
     pitch += data[5] * dt;  // Angle around the Z-axis
-    roll +=  data[3] * dt;  // Angle around the X-axis
+//    roll +=  data[3] * dt;  // Angle around the X-axis
     
     /* Turning around the X-axis results in a vector on the Y-axis
     whereas turning around the Y-axis results in a vector on the X-axis. */
     pitchAcc = (float)atan2f(-data[0], -data[1])*180.0f/PI;
-    rollAcc  = (float)atan2f(data[2], -data[1])*180.0f/PI;
+//    rollAcc  = (float)atan2f(data[2], -data[1])*180.0f/PI;
   
     /* Apply Complementary Filter */
     pitch = pitch * 0.999 + pitchAcc * 0.001;
-    roll  = roll  * 0.999 + rollAcc  * 0.001;
+//    roll  = roll  * 0.999 + rollAcc  * 0.001;
 }
\ No newline at end of file