AHRS
Dependencies: Eigen
Diff: AHRS.cpp
- Revision:
- 5:eee47600b772
- Parent:
- 4:3c21fb0c9e84
- Child:
- 6:5824bd96b6cf
--- a/AHRS.cpp Fri May 03 13:46:40 2019 +0000 +++ b/AHRS.cpp Fri May 03 14:43:47 2019 +0000 @@ -29,7 +29,7 @@ LinearCharacteristics int2magx( -1.0,0.0); // x-axis reversed LinearCharacteristics int2magy( -1.0,0.0); // y-axis reversed LinearCharacteristics int2magz( 1.0,0.0); - matrix measurement(6,1,0.0); + //matrix measurement(6,1,0.0); while (!imu.begin()) { wait(1); printf("Failed to communicate with LSM9DS1.\r\n"); @@ -47,17 +47,16 @@ //imu.readMag_calibrated(); imu.readMag(); imu.readGyro(); - + matrix measurement(6,1,0.0); //Perform Madgwick-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)); + // 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)); - //RPY_filter.loop(&measurement); - + RPY_filter.loop(&measurement); } // while(1) } void AHRS::sendSignal() {