Diff: FreeIMU.h

Revision:

3:f9b100a9aa65

Parent:

2:5c419926dcd7

Child:

6:6b1185b32814

--- a/FreeIMU.h	Tue Nov 05 13:38:07 2013 +0000
+++ b/FreeIMU.h	Sat Nov 09 08:53:25 2013 +0000
@@ -24,6 +24,9 @@
 #ifndef FreeIMU_h
 #define FreeIMU_h
 
+#define I2C_SDA p28
+#define I2C_SCL p27
+
 // Uncomment the appropriated version of FreeIMU you are using
 //#define FREEIMU_v01
 //#define FREEIMU_v02
@@ -103,8 +106,8 @@
 // HMC5843 address is fixed so don't bother to define it
 
 
-#define twoKpDef  (2.0f * 0.5f) // 2 * proportional gain
-#define twoKiDef  (2.0f * 0.1f) // 2 * integral gain
+#define twoKpDef  (2.0f * 7.5f) // 2 * proportional gain
+#define twoKiDef  (2.0f * 0.25f) // 2 * integral gain
 
 #ifndef cbi
 #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
@@ -140,9 +143,9 @@
     
     // we make them public so that users can interact directly with device classes
 
-      MPU6050 accgyro;
-      MS561101BA baro;
-      HMC58X3 magn;
+      MPU6050 *accgyro;
+      MS561101BA *baro;
+      HMC58X3 *magn;
     
     int* raw_acc, raw_gyro, raw_magn;
     // calibration parameters
@@ -152,7 +155,7 @@
     
   private:
 
-    void AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
+    void AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, bool _magn_valid);
 
     //float q0, q1, q2, q3; // quaternion elements representing the estimated orientation
     float iq0, iq1, iq2, iq3;