Diff: AHRS.cpp

Revision:

6:5824bd96b6cf

Parent:

5:eee47600b772

Child:

7:bfde7bd5fe31

--- a/AHRS.cpp	Fri May 03 14:43:47 2019 +0000
+++ b/AHRS.cpp	Fri Jun 14 07:05:20 2019 +0000
@@ -48,16 +48,24 @@
         imu.readMag();
         imu.readGyro();
         matrix measurement(6,1,0.0);
-        //Perform Madgwick-filter update
+        //Perform filter update
         //RPY_filter.update(raw_gx2gx(imu.gx), raw_gy2gy(imu.gy),  raw_gz2gz(imu.gz) ,
         //              raw_ax2ax(imu.ax), raw_ay2ay(imu.ay),  raw_az2az(imu.az),
         //              int2magx(imu.mx), int2magy(imu.my),  int2magz(imu.mz));
-        measurement.put_entry(1,1,raw_gx2gx(imu.gyroX));
-        measurement.put_entry(2,1,raw_gy2gy(imu.gyroY));
-        measurement.put_entry(3,1,raw_ax2ax(imu.accX));
-        measurement.put_entry(4,1,raw_ay2ay(imu.accY));
+        measurement.put_entry(0,0,raw_gx2gx(imu.gyroX));
+        measurement.put_entry(1,0,raw_gy2gy(imu.gyroY));
+        measurement.put_entry(3,0,raw_ax2ax(imu.accX));
+        measurement.put_entry(4,0,raw_ay2ay(imu.accY));
         RPY_filter.loop(&measurement);
-        }       // while(1)
+        my_logger.data_vector[0] = raw_gx2gx(imu.gyroX);
+        my_logger.data_vector[1] = raw_gy2gy(imu.gyroY);
+        my_logger.data_vector[2] = raw_gz2gz(imu.gyroZ);
+        my_logger.data_vector[3] = raw_ax2ax(imu.accX);
+        my_logger.data_vector[4] = raw_ay2ay(imu.accY);
+        my_logger.data_vector[5] = raw_az2az(imu.accZ);
+        my_logger.data_vector[6] = RPY_filter.get_est_state(1);
+        my_logger.data_vector[7] = RPY_filter.get_est_state(2);
+        }       // while(1) (the thread)
 }
 void AHRS::sendSignal() {