wrapper library for the Seagoat sensor suite
sensor.h
- Committer:
- aolgu003
- Date:
- 2016-07-25
- Revision:
- 1:6126bf6cdfae
- Parent:
- 0:13ac527b4c4b
File content as of revision 1:6126bf6cdfae:
#include "MPU6050.h" #include "MS5803.h" #include "MS5837.h" #include "IMU.h" #include "HMC5883L.h" MPU6050 mpu6050; HMC5883L compass(I2C_SDA, I2C_SCL); float depth, heading; int16_t mag[3] = {0}; void sensor_init() { IMUinit(mpu6050); wait_ms(100); pc.printf("================================\n"); pc.printf("Initialized begining readings\n"); pc.printf("================================\n"); } void sensor_update() { //IMU Update gets pitch and roll IMUUpdate(mpu6050); //gets heading compass.getXYZ(mag); float xh, yh; xh = mag[0]*cos(pitch*PI/180) + mag[1]*sin(roll*PI/180)*sin(pitch*PI/180) - mag[2]*cos(roll*PI/180)*sin(pitch*PI/180); yh = mag[1]*cos(roll*PI/180) + mag[2]*sin(roll*PI/180); heading = atan2(yh, xh) * 180/PI; } void sensor_msg() { //yaw,pitch,roll,raw heading, corrected heading, depth pc.printf("%f,%f,%f,%f,%f,%f\r\n", yaw, pitch, roll, compass.getHeadingXYDeg(), heading, depth); } void print_data() { pc.printf("================================\n"); pc.printf("Yaw, pitch, roll: %f, %f, %f\n", yaw, pitch, roll); pc.printf("Depth: %f\n", depth); pc.printf("Heading w.o. tilt correction: %f\n", compass.getHeadingXYDeg()); pc.printf("Heading with tilt correction: %f\n", heading); }