albatross
/
keiki2016ver4
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Dependencies: SDFileSystem mbed
Fork of
keiki2016verRtos
by 
albatross
Revision 2:5a1a638f5fe6, committed 2016-02-25
- Comitter:
- taurin
- Date:
- Thu Feb 25 09:13:46 2016 +0000
- Parent:
- 1:5ec2409854da
- Child:
- 3:8dc516be2e7e
- Commit message:
- aaaa
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Wed Feb 24 10:22:59 2016 +0000
+++ b/main.cpp Thu Feb 25 09:13:46 2016 +0000
@@ -126,7 +126,7 @@
}
mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
delt_t = t.read_ms() - count;
- if (delt_t > 500) { // update LCD once per half-second independent of read rate
+ if (delt_t > 800) { // update LCD once per half-second independent of read rate
yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);