Diff: MPU9250.h

Revision:

3:c138317c9753

Parent:

1:3cf2930938a8

Child:

4:337af8bbd44e

--- a/MPU9250.h	Thu Jul 06 15:41:29 2017 +0000
+++ b/MPU9250.h	Sat Jul 08 14:49:30 2017 +0000
@@ -206,8 +206,8 @@
 float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer
 float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values 
 int16_t tempCount;   // Stores the real internal chip temperature in degrees Celsius
-float temperature;
-float SelfTest[6];
+//float temperature;
+//float SelfTest[6];
 
 int delt_t = 0; // used to control display output rate
 int count = 0;  // used to control display output rate
@@ -266,7 +266,7 @@
     }
 } 
  
-
+/*
 void getMres() {
   switch (Mscale)
   {
@@ -280,8 +280,8 @@
           break;
   }
 }
-
-
+*/
+/*
 void getGres() {
   switch (Gscale)
   {
@@ -325,7 +325,7 @@
   }
 }
 
-
+*/
 void readAccelData(int16_t * destination)
 {
   uint8_t rawData[6];  // x/y/z accel register data stored here
@@ -786,6 +786,7 @@
   
  // Similar to Madgwick scheme but uses proportional and integral filtering on the error between estimated reference vectors and
  // measured ones. 
+ /*
             void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
         {
             float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3];   // short name local variable for readability
@@ -876,6 +877,6 @@
             q[2] = q3 * norm;
             q[3] = q4 * norm;
  
-        }
+        }*/
   };
 #endif