Diff: IMU_code.cpp

Revision:

2:b00adea2187b

Parent:

1:0672f84101e4

Child:

3:232de5807dac

--- a/IMU_code.cpp	Fri Jun 30 18:32:10 2017 +0000
+++ b/IMU_code.cpp	Mon Jul 17 14:23:51 2017 +0000
@@ -130,7 +130,8 @@
                     //PC.printf("\nT: %f SA:(%d) Roll: %9.6f Pitch: %9.6f Yaw:%9.6f\n\n",timestamp,sa_pos,stab_accel[0],stab_accel[1],stab_accel[2]);
                     //PC.printf("\nT: %f SA:(%d) Roll: %9.6f Pitch: %9.6f Yaw:%9.6f\n",timestamp,sa_pos,stab_accel[0],stab_accel[1],stab_accel[2]);
                     char char_buffer [60];
-                    sprintf(char_buffer,"T: %f SA:(%d) Roll: %9.6f Pitch: %9.6f Yaw: %9.6f",timestamp,sa_pos,stab_accel[0],stab_accel[1],stab_accel[2]); 
+                    //sprintf(char_buffer,"T: %f SA:(%d) Roll: %9.6f Pitch: %9.6f Yaw: %9.6f",timestamp,sa_pos,stab_accel[0],stab_accel[1],stab_accel[2]); 
+                    sprintf(char_buffer,">imu Time: %6.3f SA:(%d) Roll: %6.3f Pitch: %6.3f Yaw: %6.3f imu<",timestamp,sa_pos,stab_accel[0],stab_accel[1],stab_accel[2]); 
                     //PC.printf("cb: %s\n\n", char_buffer); //TROY: My way to double-check this
                     //Sanity check
                     //PC.printf("\nCheck1: %02x == %02x check2 %02x == %02x PL: %d T: %f DT: %f %f %f DV: %f %f %f SA: %f %f %f\n\n",data[packetlength-2],cb1, data[packetlength-1],cb2,packetlength,timestamp,delta_theta[0],delta_theta[1],delta_theta[2],
@@ -149,12 +150,14 @@
                 }                
             }
         }
+        //else if (IMU.readable() == 0) //doesn't work for some reason
+            //return "no imu";
     } 
 }
 
 float IMU_code::IMU_pitch()
 {   
-    return stab_accel[1];
+    return stab_accel[2];   //using the yaw axis
 }
 
 double double_from_le_bytes(unsigned char * p_to_double)