Diff: main.cpp

Revision:

1:9331c419c9b9

Parent:

0:042921e9375d

--- a/main.cpp	Sat Nov 28 16:42:41 2020 +0000
+++ b/main.cpp	Mon Nov 30 20:40:18 2020 +0000
@@ -9,10 +9,10 @@
 
 void mag_correction(float mx, float my, float mz, float mag_c[3])
 {
-    float bias[3] = {-0.1102,0.3965,-0.0683};
-    float scale[3][3] = {{1.0558, 0.0640, -0.0220},
-        {0.0640, 1.0657, 0.0645},
-        {-0.0220, 0.0645, 1.0650}
+    float bias[3] = {-0.1139,0.4026,-0.0621};
+    float scale[3][3] = {{1.0147, 0.0575, 0.0134},
+        {0.0575, 1.0475, 0.0291},
+        {0.0134, 0.0291, 0.9776}
     };
 
     mag_c[0] = (mx-bias[0]) *scale[0][0] + (my - bias[1]) *scale[1][0] + (mz - bias[2]) *scale[2][0];
@@ -66,6 +66,6 @@
             pitch = pitch + 360;
         }
 
-        pc.printf("$imu,4,4,%f,%3.3f,   %3.3f,  %3.3f;\r\n",t.read(),roll,pitch,yaw);
+        pc.printf("$imu,3,10,%f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f;\r\n",t.read(),gyro[0],gyro[1],gyro[2],accel[0],accel[1],accel[2],roll,pitch,yaw);
     }
 }
\ No newline at end of file