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Dependencies: GPS2 L3GD20 LSM303DLHC2 PID mbed SDFileSystem
Fork of
GPSNavigation
by 
David Spillman
Diff: modSensData.h
- Revision:
- 2:503a5ac6c3b6
- Parent:
- 0:e79311aae7ed
- Child:
- 3:ffa0e1429a72
--- a/modSensData.h Sat Feb 21 01:22:52 2015 +0000
+++ b/modSensData.h Wed Mar 04 17:48:08 2015 +0000
@@ -17,6 +17,8 @@
#define GRAVITY 1.0f
+#define THRESHOLD 1.1f
+
Timer t1;
float vC[3], cC[3], magnetom[3], inertialAccel[3];
@@ -178,10 +180,30 @@
-void updateAngles()
+int updateAngles()
{
readIMU();
- getAttitude();
- Compass_Heading();
+ if((accel[0] <= THRESHOLD) && (accel[1] <= THRESHOLD) && (accel[2] <= THRESHOLD))
+ {
+ //float prevYaw = yaw;
+ getAttitude();
+ Compass_Heading();
+ //float absOfYawDiff = sqrt((prevYaw - yaw) * (prevYaw - yaw));
+ //check for noise
+ //if((absOfYawDiff >= 30) && (absOfYawDiff <= (360.0f - 30)))
+ //{
+ return 1;
+ //}
+ //return 0;
+
+ }
+ return 0;
//rotateBTI();
+}
+
+float getGyro()
+{
+ float gx, gy, gz;
+ gyro.read(&gx,&gy,&gz);
+ return gz;
}
\ No newline at end of file