HAPSRG / Mbed 2 deprecated hexaTest_Eigen

solaESKF_EIGEN

Dependencies:   mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM

Diff: main.cpp

Revision:
14:468ccb88e387
Parent:
13:ac7c1c861aaf
Child:
15:6abaac6e5b03
--- a/main.cpp	Thu Jan 28 04:11:38 2021 +0000
+++ b/main.cpp	Thu Jan 28 04:41:40 2021 +0000
@@ -17,6 +17,8 @@
 float pitch = 0.0;
 float roll = 0.0;
 float yaw = 0.0;
+float gyro[3] = {0,0,0};
+float acc[3] = {0,0,1.0};
 int out1, out2;
 
 long map(long x, long in_min, long in_max, long out_min, long out_max)
@@ -59,11 +61,16 @@
 
 void interrupt_Gyro()
 {
-    filter.updateFilter(0, 0, 0, 0, 0, 1.0);
+    // gx gy gz ax ay az
+    mpu.getGyro(gyor);
+    mpu.getAccelero(acc);
+    filter.updateFilter(gyro[0],gyro[1],gyro[2],acc[0],acc[1],acc[2]);
 }
 
 int main()
 {
+    mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_8G);
+    mpu.setGyroRange(MPU6050_GYRO_RANGE_250)
     pc.baud(9600);
     servo1.period(0.020);
     servo2.period(0.020);