Diff: Mahony.h

Revision:

3:6811c0ce95f6

Parent:

1:36bbe04e1f6f

--- a/Mahony.h	Fri Oct 26 05:56:25 2018 +0000
+++ b/Mahony.h	Tue Dec 04 15:49:48 2018 +0000
@@ -26,18 +26,19 @@
     float integralFBx, integralFBy, integralFBz;  // integral error terms scaled by Ki
     float invSampleFreq;
     float roll, pitch, yaw;
-    char anglesComputed;
     static float invSqrt(float x);
-    void computeAngles();
+
 
 //-------------------------------------------------------------------------------------------
 // Function declarations
 
 public:
-    Mahony();
+    Mahony(float);
     void begin(float sampleFrequency) { invSampleFreq = 1.0f / sampleFrequency; }
     void update(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
     void updateIMU(float gx, float gy, float gz, float ax, float ay, float az);
+    char anglesComputed;
+    void computeAngles();
     float getRoll() {
         if (!anglesComputed) computeAngles();
         return roll * 57.29578f;