Diff: main.cpp

Revision:

3:de36d456f684

Parent:

2:82b2a1e84586

Child:

4:f0cd8d252c08

--- a/main.cpp	Fri Apr 29 13:21:09 2016 +0000
+++ b/main.cpp	Fri Apr 29 13:23:44 2016 +0000
@@ -90,35 +90,6 @@
 StateType state = FRONT;   // Initial state is FRONT
 StateType2 state2 = FRONT2;
 
-// Calculate pitch, roll, and heading.
-// Pitch/roll calculations taken from this app note:
-// http://cache.freescale.com/files/sensors/doc/app_note/AN3461.pdf?fpsp=1
-// Heading calculations taken from this app note:
-// http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/Magnetic__Literature_Application_notes-documents/AN203_Compass_Heading_Using_Magnetometers.pdf
-
-void printAltitude(float ax, float ay, float az, float mx, float my, float mz)
-{
-    float roll = atan2(ay, az);
-    float pitch = atan2(-ax, sqrt(ay * ay + az * az));
-// touchy trig stuff to use arctan to get compass heading (scale is 0..360)
-    mx = -mx;
-    float heading;
-    if (my == 0.0)
-        heading = (mx < 0.0) ? 180.0 : 0.0;
-    else
-        heading = atan2(mx, my)*360.0/(2.0*PI);
-    pc.printf("heading atan=%f \n\r",heading);
-    heading -= DECLINATION; //correct for geo location
-    if(heading>180.0) heading = heading - 360.0;
-    else if(heading<-180.0) heading = 360.0 + heading;
-    else if(heading<0.0) heading = 360.0  + heading;
-
-
-    // Convert everything from radians to degrees:
-    //heading *= 180.0 / PI;
-    pitch *= 180.0 / PI;
-    roll  *= 180.0 / PI;
-}
 
 void show_message(MIDIMessage msg) {
     switch (msg.type()) {