Diff: quadcopter.h

Revision:

24:e220fbb70ded

Parent:

22:92401a4fec13

Child:

25:d44610851105

--- a/quadcopter.h	Tue Apr 12 22:54:16 2016 +0000
+++ b/quadcopter.h	Wed Apr 13 00:57:15 2016 +0000
@@ -26,9 +26,12 @@
 };
 
 typedef struct {
-    double x;
-    double y;
-    double z;
+    double gyro_x;
+    double gyro_y;
+    double gyro_z;
+    double roll;
+    double pitch;
+    double heading;
 } offset;
 
 struct motors {
@@ -39,10 +42,11 @@
 };
 
 
-class Quadcopter {
+class Quadcopter
+{
 private:
     Serial *pc_; // use for printing
-    
+
     // allow for remote communication
     MRF24J40 *mrf_;
     int rcIterations_;
@@ -55,7 +59,7 @@
     //pwmOut * _pwmOut; // give address to constructor, than change this value
     motors motorPwm_;
     PwmOut *motor1_;
-    
+
     // declarations for IMU use
     Adafruit_9DOF dof_;
     Adafruit_LSM303_Accel_Unified accel_;
@@ -65,17 +69,16 @@
     sensors_event_t mag_event_;
     sensors_event_t gyro_event_;
     sensors_vec_t   orientation_;
-    offset offsetAngRate_;
-    offset offsetAttitude_; // used later to compensate default tilt of IMU
+    offset* initial_offsets_;
 
     Serial *pcPntr_; // used to access serial communication
-    
+
 
     double g_;  // gravity [m/s^2]
     double m_; // mass [kg]
     double l_; // arm lenght [m]
     double gamma_; // relation between moment coefficient and force coefficient.
-    
+
     // proportional attitude control gains
     double kp_f_; // gain converting radio input to thrust.
     double kp_phi_;
@@ -100,14 +103,19 @@
     void readRc();
 
     motors getPwm();
-        state getState();
+    state getState();
+    Adafruit_LSM303_Accel_Unified getAccel();
+    Adafruit_LSM303_Mag_Unified getMag();
+    Adafruit_L3GD20_Unified getGyro();
+    Adafruit_9DOF getIMU();
+    offset* getOffset();
 
     float thrust;
     float yaw;
     float pitch;
     float roll;
     long long id;
-    
+
     //void readJoystick();
     // not implemented yet
     //void setGains();