David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

Diff: sensor.cpp

Revision:
35:35997980a8ba
Parent:
29:ae765492fa8b
Child:
37:a983eb9fd9c5
diff -r eaea0ae92dfa -r 35997980a8ba sensor.cpp
--- a/sensor.cpp	Sun Apr 24 17:15:20 2016 +0000
+++ b/sensor.cpp	Tue Apr 26 18:50:55 2016 +0000
@@ -43,9 +43,8 @@
     for (int n = 0; n < NUM_SAMPLES; n++) {
         gyro.getEvent(&gyro_event);
         accel.getEvent(&accel_event);
-        dof.accelGetOrientation(&accel_event, &orientation);
         mag.getEvent(&mag_event);
-        dof.magGetOrientation(SENSOR_AXIS_Z, &mag_event, &orientation);
+        dof.fusionGetOrientation(&accel_event, &mag_event, &orientation);
         initial_offsets->gyro_x  += gyro_event.gyro.x;
         initial_offsets->gyro_y  += gyro_event.gyro.y;
         initial_offsets->gyro_z  += gyro_event.gyro.z;