Diff: AHRS.h

Revision:

8:51062bb877f0

Parent:

7:bfde7bd5fe31

Child:

9:644266463f5f

--- a/AHRS.h	Wed Jun 26 14:19:01 2019 +0000
+++ b/AHRS.h	Fri Jul 05 06:56:19 2019 +0000
@@ -14,18 +14,25 @@
     AHRS(uint8_t,float);
     virtual ~AHRS();
     
-    float getRoll() {
-        return RPY_filter.get_est_state(1);
+    float getRoll(uint8_t ft) {
+        if(ft ==1)
+           return RPY_filter.get_est_state(0);
+        else
+            return Mahony_filter.getRollRadians();   
     }
-    float getPitch() {
-        return RPY_filter.get_est_state(2);
+    float getPitch(uint8_t ft) {
+        if(ft ==1)
+           return RPY_filter.get_est_state(1);
+        else
+            return Mahony_filter.getPitchRadians();   
     }
     float getYaw() {
         return 0.0;
     }
     LSM9DS1 imu;
-    //Mahony RPY_filter;
+    Mahony Mahony_filter;
     ekf RPY_filter;
+    
     LinearCharacteristics raw_gx2gx;
     LinearCharacteristics raw_gy2gy;
     LinearCharacteristics raw_gz2gz;