Mechatronics / 2015_04_17_dydakt

Dydaktyka

Dependencies:   FastPWM mbed-src

Fork of 2015_04_17_quadro_bez_sterowania by Quadrocopter

Diff: IMU.cpp

Revision:
10:605b0bfadc2e
Parent:
8:dc48ce79ad59
--- a/IMU.cpp	Thu Jan 29 14:17:43 2015 +0000
+++ b/IMU.cpp	Tue Feb 10 15:08:04 2015 +0000
@@ -176,9 +176,12 @@
          W[0] = ((int16_t) (D[0] << 8 | D[1]));
          W[1] = ((int16_t) (D[4] << 8 | D[5]));
          W[2] = ((int16_t) (D[2] << 8 | D[3]));
-         *(d+6) = (float) 2.813*(W[0]-220)/1100; //Z bylo 264
-         *(d+7) = (float) 2.822*(W[1]+ 230)/1100; //X bylo 
-         *(d+8) = (float) 2.880*(W[2]- 380)/980;  //Y
+         //*(d+6) = (float) 2.813*(W[0]-220)/1100; //Z bylo 264
+         //*(d+7) = (float) 2.822*(W[1]+ 230)/1100; //X bylo 
+         //*(d+8) = (float) 2.880*(W[2]- 380)/980;  //Y
+         *(d+6) = (float) W[0]; ///x
+         *(d+7) = (float) W[1]; //z 
+         *(d+8) = (float) W[2];  //y
 
          return ack;
 }