Diff: main.cpp

Revision:

1:562a583eb77c

Parent:

0:4b02060af95b

Child:

3:e03714326b83

diff -r 4b02060af95b -r 562a583eb77c main.cpp
--- a/main.cpp	Fri Aug 02 14:15:07 2019 +0000
+++ b/main.cpp	Wed Aug 21 13:21:41 2019 +0000
@@ -1,10 +1,11 @@
 #include "mbed.h"
 #include "PX4Flow.h"
 
-#define INTEGRAL
+#define INTEGRAL false
 
 DigitalOut myled(LED1);
-I2C i2c(PA_10,PA_9);
+//I2C i2c(PA_10,PA_9);
+I2C i2c(PC_9, PA_8);
 Serial pc(SERIAL_TX, SERIAL_RX);
 PX4Flow PX4(i2c,pc);
 
@@ -16,26 +17,28 @@
     pc.baud(2000000);
     while(1) {
 
-#ifndef INTEGRAL
+if(1){
         if(PX4.update()) {
-            pc.printf("Frame Count: %4.0d\t", PX4.frame_count());
-            pc.printf("Pixel Flow X Sum: %d\t", PX4.pixel_flow_x_sum());
-            pc.printf("Pixel Flow Y Sum: %d\t", PX4.pixel_flow_y_sum());
-            pc.printf("Flow Comp. M X.: %4.0d\t", PX4.flow_comp_m_x());
-            pc.printf("Flow Comp. M Y.: %4.0d\t", PX4.flow_comp_m_y());
-            pc.printf("Quality: %3.1d\t", PX4.qual());
-            pc.printf("Gyro X Rate: %4.0d\t", PX4.gyro_x_rate());
-            pc.printf("Gyro Y Rate: %4.0d\t", PX4.gyro_y_rate());
-            pc.printf("Gyro Z Rate: %4.0d\t", PX4.gyro_z_rate());
-            pc.printf("Sonar Timestamp: %3.d\t", PX4.sonar_timestamp());
-            pc.printf("Ground Distance: %.3f\t", float(PX4.ground_distance())/1000);
+            //pc.printf("Frame Count: %4.0d\t", PX4.frame_count());
+ //           pc.printf("Pixel Flow X Sum: %d\t", -PX4.pixel_flow_y_sum());
+ //           pc.printf("Pixel Flow Y Sum: %d\t", -PX4.pixel_flow_x_sum());
+            pc.printf("Flow Comp. M X.: %4d\t", -PX4.flow_comp_m_y());
+            pc.printf("Flow Comp. M Y.: %4d\t", -PX4.flow_comp_m_x());
+            pc.printf("Quality: %d\t", PX4.qual());
+            pc.printf("Gyro X: %d\t", PX4.gyro_x_rate());
+            pc.printf("Gyro Y: %d\t", PX4.gyro_y_rate());
+            pc.printf("Gyro Z: %d\t", PX4.gyro_z_rate());
+            //pc.printf("Sonar Timestamp: %3.d\t", PX4.sonar_timestamp());
+            pc.printf("z: %.3f\t", float(PX4.ground_distance())/1000);
             pc.printf("\r\n");
         } else {
             pc.printf("TimeOut\r\n");
         }
-#else
+}
+else
+{
         if(PX4.update_integral()) {
-            pc.printf("Frame Count: %3.0d\t", PX4.frame_count_since_last_readout());
+        //    pc.printf("Frame Count: %3.0d\t", PX4.frame_count_since_last_readout());
             pc.printf("Pixel Flow X Integral: %3.0d\t", PX4.pixel_flow_x_integral());
             pc.printf("Pixel Flow Y Integral: %3.0d\t", PX4.pixel_flow_y_integral());
             pc.printf("Gyro X Rate: %3.0d\t", PX4.gyro_x_rate_integral());
@@ -51,8 +54,8 @@
         } else {
             pc.printf("TimeOut\r\n");
         }
-#endif
-        wait(0.1);
+}
+        wait(0.025  );
     }
 }