Joseph Roberts / FreeIMU

10DOF FreeIMU port for FreeIMU v4 board and GY-86. This library was modified extensively to specifically suit the Mbed platform. Used threads and interrupts to achieve async mode.

Dependencies:   HMC58X3 MODI2C MPU6050 MS561101BA

Fork of FreeIMU by Yifei Teng

Diff: FreeIMU.cpp

Revision:
13:21b275eeeda2
Parent:
9:a79af1283446
Child:
15:ea86489d606b
--- a/FreeIMU.cpp	Mon Feb 10 01:13:34 2014 +0000
+++ b/FreeIMU.cpp	Thu Sep 18 08:43:06 2014 +0000
@@ -95,6 +95,11 @@
 
 }
 
+void FreeIMU::sample(bool sampling)
+{
+    accgyro->sample(sampling);
+}
+
 /**
  * Initialize the FreeIMU I2C bus, sensors and performs gyro offsets calibration
 */
@@ -393,12 +398,12 @@
  *
  * @param q the quaternion to populate
 */
+
+float val[9];
 void FreeIMU::getQ(float * q)
 {
-    float val[9];
     getValues(val);
 
-    //now = micros();
     dt_us=update.read_us();
     sampleFreq = 1.0 / ((dt_us) / 1000000.0);
     update.reset();
@@ -415,6 +420,13 @@
     }
 }
 
+//XYZ
+void FreeIMU::getRate(float * r)
+{    
+    r[0] = val[5]; //Yaw
+    r[1] = val[3]; //Pitch
+    r[2] = val[4]; //Roll
+}
 
 const float def_sea_press = 1013.25;