maedalab / Mbed 2 deprecated MPU9250_AHRS

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Dependencies:   MPU9250_SPI mbed

Diff: MadgwickAHRS.h

Revision:
30:a1bbb934b053
Parent:
29:6075f35f472f
Child:
31:f30e4effec54
--- a/MadgwickAHRS.h	Wed Jul 06 11:44:22 2016 +0000
+++ b/MadgwickAHRS.h	Thu Jul 07 04:35:04 2016 +0000
@@ -2,7 +2,7 @@
 // Definitions
 
 #define sampleFreq  500.0f      // sample frequency in Hz
-#define betaDef     0.0f        // 2 * proportional gain
+#define betaDef     0.02f        // 2 * proportional gain
 #define PI          3.14159265358979f
 #define DEGREE2RAD  PI/180.0f
 class MadgwickAHRS
@@ -53,7 +53,8 @@
         updateIMU(gx, gy, gz, ax, ay, az);
         return;
     }
-
+   
+    //printf("test\n");
     // Rate of change of quaternion from gyroscope
     qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz);
     qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy);