File content as of revision 92:00460f6df439:

#include "global.hpp"

void getIMUval()
{
        lsm.readAccel();
        lsm.readMag();
        lsm.readGyro();
        
        acc.x = lsm.ax * 9.8f - agoffset[0];
        acc.y = lsm.ay * 9.8f - agoffset[1];
        acc.z = lsm.az * 9.8f - agoffset[2];
        gyro.x = (lsm.gx * M_PI / 180.0f) - agoffset[3];
        gyro.y = (lsm.gy * M_PI / 180.0f) - agoffset[4];
        gyro.z = (lsm.gz * M_PI / 180.0f) - agoffset[5];      
        mag.x = lsm.mx;
        mag.y = lsm.my;
        mag.z = lsm.mz;
        
        float pressure = lps.readPressureMillibars();
        palt = lps.pressureToAltitudeMeters(pressure);
        
        //printf("%f %f %f %f %f %f %f %f %f\n", lsm.ax, lsm.ay, lsm.az, lsm.gx, lsm.gy, lsm.gz, lsm.mx, lsm.my, lsm.mz);
        //printf("%f %f %f\n", lsm.gx, lsm.gy, lsm.gz);
        //printf("%f %f %f\n", lsm.mx, lsm.my, lsm.mz);
        //float pressure = lps.readPressureMillibars();
        //float altitude = lps.pressureToAltitudeMeters(pressure);
        //float temperature = lps.readTemperatureC();
        //twelite.printf("p:%.2f\t mbar\ta:%.2f m\tt:%.2f deg C\r\n",pressure,altitude,temperature);
}