Alvee Ahmed / virgo3_imuHandler

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Fork of virgo3_imuHandler_Orion_PCB by Van Nguyen

Diff: imuHandler.cpp

Revision:
14:7586410ac0e6
Parent:
13:d329bf89c898
Parent:
11:fb47aa30cc7b
diff -r d329bf89c898 -r 7586410ac0e6 imuHandler.cpp
--- a/imuHandler.cpp	Fri Aug 19 01:13:49 2016 +0000
+++ b/imuHandler.cpp	Mon Aug 22 06:46:22 2016 +0000
@@ -111,6 +111,10 @@
                     unstable_readings --;
                 else {
                     imu_mpu6050.dmpGetYawPitchRoll(imu_initialAngles, &imu_Data.q, &imu_Data.gravity);
+                    
+                    for(int i=0; i<3; i++)
+                        imu_initialAngles[i] = RAD_TO_DEG(imu_initialAngles[i]);
+                
                     mpu_timer.start();
                     unstable_readings --;
 
@@ -156,6 +160,9 @@
                 imuTime_s[1] = imuTime_s[0] + mpu_timer.read();
 
             time_s = imuTime_s[1]; //imu timestamp
+            
+            for(int i=0; i<3; i++)
+                yawPitchRoll[i] = RAD_TO_DEG(yawPitchRoll[i]);
 
             imu_Data.posePRY[2] = -1*(yawPitchRoll[0] - imu_initialAngles[0]- DRIFT_CORRECTION(imuTime_s[1])) - PoseCorrection[0];
             imu_Data.posePRY[1] = yawPitchRoll[1] - imu_initialAngles[1] - PoseCorrection[1];