LDSC_Robotics_TAs / LSM9DS0

Nucleo-64 version

Dependents:   particle_filter_test read_sensor_data Bike_Sensor_Fusion Encoder ... more

Diff: LSM9DS0.cpp

Revision:
15:d433a3236219
Parent:
14:91137af62732
Child:
16:682ed25a1f5d
--- a/LSM9DS0.cpp	Tue Sep 03 05:18:23 2019 +0000
+++ b/LSM9DS0.cpp	Fri Mar 13 08:15:09 2020 +0000
@@ -868,9 +868,8 @@
     float pitchAcc, rollAcc;
  
     /* Integrate the gyro data(deg/s) over time to get angle */
-    pitch += data[5] * dt;  // Angle around the Z-axis
+    pitch += data[4] * dt;  // Angle around the Y-axis
     roll +=  data[3] * dt;  // Angle around the X-axis
-
     /* Turning around the X-axis results in a vector on the Y-axis
     whereas turning around the Y-axis results in a vector on the X-axis. */
     pitchAcc = (float)atan2f(data[0], -data[2])*180.0f/PI;