Diff: MPU6050.h

Revision:

3:6624faa750c7

Parent:

2:19e22a4eaa18

--- a/MPU6050.h	Wed Feb 11 20:15:11 2015 +0000
+++ b/MPU6050.h	Sat Mar 14 15:44:48 2015 +0000
@@ -735,8 +735,9 @@
         // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
         
         // Get the data and convert it
-        void getAndConvertData(float *ax, float *ay, float *az, float *yaw, float *pitch, float *roll, float *accel_bias, float *gyro_bias);
-        void MadgwickQuaternionUpdate(float *ax, float *ay, float *az, float gx, float gy, float gz, float *q);
+        void getAndConvertData(float *ax, float *ay, float *az, float *yaw, float *pitch, float *roll, 
+                                float *accel_bias, float *gyro_bias, float *gx, float *gy, float *gz);
+        void MadgwickQuaternionUpdate(float *ax, float *ay, float *az, float gx, float gy, float gz);
         
         // XG_OFFS_TC register
         uint8_t getOTPBankValid();
@@ -1042,7 +1043,7 @@
         uint8_t devAddr;
         uint8_t buffer[14];
         
-        float last_update, first_update, cur_time;
+        int last_update, first_update, cur_time;
         
         // Gyroscope meas. error in rad/s (start at 60 deg/s), then reduce
         // after ~10 to 3
@@ -1053,6 +1054,8 @@
         // Compute zeta, the other free parameter in the Madgwick scheme
         // usually set to a small or zero value
         float zeta;
+        
+        float q[4];
 };
 
 #endif /* _MPU6050_H_ */
\ No newline at end of file