File content as of revision 139:b378528c05f2:

//#include "global.hpp"
//
//void getIMUval()
//{
//        lsm.readAccel();
//        lsm.readMag();
//        lsm.readGyro();
//        
//        Matrix accmat(3,1);
//        accmat << lsm.ax * 9.8f - agoffset[0] << lsm.ay * 9.8f - agoffset[1] << lsm.az * 9.8f - agoffset[2];
//        Matrix accAlign = SensorAlignmentAG*accmat;
//        
//        acc.x = accAlign(1,1);
//        acc.y = accAlign(2,1);
//        acc.z = accAlign(3,1);
//        
//        Matrix gyromat(3,1);
//        gyromat << (lsm.gx * M_PI / 180.0f) - agoffset[3] << (lsm.gy * M_PI / 180.0f) - agoffset[4] << (lsm.gz * M_PI / 180.0f) - agoffset[5];
//        Matrix gyroAlign = SensorAlignmentAG*gyromat;
//        gyro.x = gyroAlign(1,1);
//        gyro.y = gyroAlign(2,1);
//        gyro.z = gyroAlign(3,1);
//        
//        Matrix magraw(3,1);
//        magraw << lsm.mx <<lsm.my << lsm.mz;
//        magraw = SensorAlignmentMAG*magraw;
//        float inputMag[3];
//        float outputMag[3];
//        inputMag[0] = magraw(1,1)*1000.0f;
//        inputMag[1] = magraw(2,1)*1000.0f;
//        inputMag[2] = magraw(3,1)*1000.0f;
//        magCalibrator.run(inputMag,outputMag);
//        mag.x = outputMag[0];
//        mag.y = outputMag[1];
//        mag.z = outputMag[2];
//        //twelite.printf("%f %f %f : %f %f %f\r\n",magraw(1,1),magraw(2,1),magraw(3,1),magmod(1,1),magmod(2,1),magmod(3,1));
//        
//        palt = -(lps.pressureToAltitudeMeters(lps.readPressureMillibars())-palt0);
//        
//        //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);
//}