Quadrocopter / Mbed 2 deprecated 2014_12_12_quadro_01

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Dependencies:   mbed

Fork of 2014_12_12_quadro_01 by Szewc Michał

Diff: IMU.cpp

Revision:
10:2794020bfc0c
Parent:
8:7a22b8294c5d
--- a/IMU.cpp	Mon Dec 08 13:28:17 2014 +0000
+++ b/IMU.cpp	Fri Dec 12 10:15:10 2014 +0000
@@ -65,8 +65,9 @@
     ack |= _i2c.write(address, tx, 1);
     ack |= _i2c.read(address+1, &rx, 1); if (rx != 0x77) ack |= 1;    
     tx[0] = LSM303_A_CTRL_REG4;
-    //tx[1] = 0x08; // 0000 1000 enable high resolution mode + selects default 2G scale. p.26/42
-    tx[1] = 0x18; // 0001 1000 enable high resolution mode + selects 4G scale.
+    tx[1] = 0x08; // 0000 1000 enable high resolution mode + selects default 2G scale. p.26/42
+    //tx[1] = 0x18; // 0001 1000 enable high resolution mode + selects 4G scale.
+    //tx[1]= 0x38;  //0011 1000 high resolution +-16G
     ack |= _i2c.write(address, tx ,2);
     ack |= _i2c.write(address, tx, 1);
     ack |= _i2c.read(address+1, &rx, 1); if (rx != 0x18) ack |= 1;    
@@ -99,8 +100,9 @@
     L3GD20_biasZ = (int16_t) 140; //BYLO -10
 
 /* reference gravity acceleration */
-    //g_0 = 9.815; //przy ustawieniu zakresu na +/- 2g
-    g_0 = 19.63; //przy ustawienu zakresu na +/- 4g  // CTR_REG 4 = 0001 1000 0x18
+    g_0 = 9.815; //przy ustawieniu zakresu na +/- 2g
+    //g_0 = 19.63; //przy ustawienu zakresu na +/- 4g  // CTR_REG 4 = 0001 1000 0x18
+    //g_0 = 78.52; //przy ustawieniu zakresu na +/- 16g //... 
 
 /* filter parameters: assume 400 Hz sampling rare and 2nd orcer Butterworth filter with fc = 5Hz. */
     pi = 3.1415926536;