ESA1 / Mbed 2 deprecated OrientationTracker_mag_offset

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Dependencies:   mbed Orientation_tracker X_NUCLEO_IKS01A2

Diff: main.cpp

Revision:
22:bbdb7b928ccc
Parent:
21:c62412a679b0
Child:
23:9f1afcbd26f5
diff -r c62412a679b0 -r bbdb7b928ccc main.cpp
--- a/main.cpp	Mon May 20 11:58:29 2019 +0000
+++ b/main.cpp	Mon May 27 11:50:00 2019 +0000
@@ -40,7 +40,10 @@
 #include "mbed.h"
 #include "XNucleoIKS01A2.h"
 #include "MadgwickAHRS.h"
-#define sampleFreqDef   2.0f
+#define sampleFreqDef   10.0f
+
+Serial pc(USBTX, USBRX, 115200);
+
 /* Instantiate the expansion board */
 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
 
@@ -123,6 +126,7 @@
   int32_t ac[3];
   float gyrf[3];
   float pitch, roll, yaw;
+  // pc.baud(115200);
   
   
   /* Enable all sensors */
@@ -133,7 +137,7 @@
   acc_gyro->enable_x();
   acc_gyro->enable_g();
   
-  printf("\r\n--- Starting new run ---\r\n");
+  //printf("\r\n--- Starting new run ---\r\n");
 
   magnetometer->read_id(&id);
  // printf("LSM303AGR magnetometer            = 0x%X\r\n", id);
@@ -148,7 +152,7 @@
  
  
   while(1) {
-    printf("\r\n");
+    pc.printf("\r\n");
     
     magnetometer->get_m_axes(axes);
     mag[0] = axes[0];
@@ -188,8 +192,8 @@
     
    // printf(" Roll: %.2f Pitch: %.2f , Yaw: %.2f\n\r", roll, pitch, yaw);
     nmea = get_nmea_sentence(roll,pitch,yaw);
-    printf("%s",nmea);
+    pc.printf("%s",nmea);
    // printf("Hehehehe\n\r");
-    wait(0.5);
+    wait(0.1);
   }
 }