File content as of revision 93:b827f78a717a:

#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 = SensorAlignment*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 = SensorAlignment*gyromat;
        gyro.x = gyroAlign(1,1);
        gyro.y = gyroAlign(2,1);
        gyro.z = gyroAlign(3,1);
        
        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);
}