AHRS
Dependencies: Eigen
Diff: AHRS.cpp
- Revision:
- 14:c357be9a3fc8
- Parent:
- 10:fd4e2436b311
- Child:
- 17:f9eed26536d9
diff -r 3a41ef85fe7e -r c357be9a3fc8 AHRS.cpp --- 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) }