Diff: AHRS.cpp

Revision:

14:c357be9a3fc8

Parent:

10:fd4e2436b311

Child:

17:f9eed26536d9

--- a/AHRS.cpp	Wed Sep 11 08:06:12 2019 +0000
+++ b/AHRS.cpp	Wed Sep 18 09:57:53 2019 +0000
@@ -81,13 +81,13 @@
         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[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[3] = RPY_filter.get_est_state(0);
-        my_logger.data_vector[4] = RPY_filter.get_est_state(1);
-        my_logger.data_vector[5] = RPY_filter.get_est_state(4);
-        my_logger.data_vector[6] = RPY_filter.get_est_state(5);
+        my_logger.data_vector[5] = raw_az2az(imu.accZ);
+        my_logger.data_vector[6] = RPY_filter.get_est_state(0);
+        my_logger.data_vector[7] = RPY_filter.get_est_state(1);
+        my_logger.data_vector[8] = RPY_filter.get_est_state(4);
+        my_logger.data_vector[9] = RPY_filter.get_est_state(5);
         }       // while(1) (the thread)
         
 }