Alberto Petrucci / Mbed 2 deprecated IMU-9DOF-KALMAN

Simple example to show how to get an estimation of the attitude with a 9DOF IMU and the Kalman filter

Dependencies:   L3GD20 LSM303DLHC mbed-dsp mbed

Fork of minimu-9v2 by brian claus

Diff: main.cpp

Revision:
0:4b3d36de811a
Child:
1:ba2d31e3112d
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Feb 21 00:24:06 2013 +0000
@@ -0,0 +1,26 @@
+#include "mbed.h"
+#include "L3GD20.h"
+#include "LSM303DLHC.h"
+ 
+L3GD20 gyro(p28, p27);
+Serial debug(USBTX,USBRX);
+LSM303DLHC compass(p28, p27);
+
+
+
+  int main() {
+    float ax, ay, az;
+    float mx, my, mz;
+    float gx, gy, gz;
+    debug.format(8,Serial::None,1);
+    debug.baud(115200);
+    debug.printf("miniimu-9 v2 Test");
+
+    while(1) {
+      
+      compass.read(&ax, &ay, &az, &mx, &my, &mz);
+      gyro.read(&gx, &gy, &gz);
+      debug.printf("a %.4f %.4f %.4f m %.4f %.4f %.4f m %.4f %.4f %.4f\n\r",ax,ay,az,mx,my,mz,gx,gy,gz);
+      wait(0.05);
+    }
+  }
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