Joseph Roberts / Mbed 2 deprecated Quadcopter_mk2

New version of quadcopter software written to OO principles

Dependencies:   mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS

Diff: Sensors/Imu/Imu.h

Revision:
3:4823d6750629
Parent:
2:969dfa4f2436
Child:
4:9ffbf9101992
--- a/Sensors/Imu/Imu.h	Wed Apr 01 11:19:21 2015 +0000
+++ b/Sensors/Imu/Imu.h	Fri Apr 24 16:50:20 2015 +0000
@@ -39,14 +39,14 @@
     
     Rate getRate();
     Angle getAngle(bool bias = true);
-    float getVelocity(float time);
-    float getVelocity();
+    Velocity getVelocity(float time);
+    Velocity getVelocity();
     double getAltitude();
     
     void zeroGyro();
     void zeroBarometer();
     void zeroAccel();
-    void setCurrentVelocity(float velocity);
+    void setCurrentVelocity(Velocity velocity);
     
   private:
     FreeIMU _freeImu;
@@ -54,12 +54,14 @@
     filter* _barometerFilter;
     Rate _rate;
     Angle _angle;
-    float _velocity;
+    Velocity _velocity;
     float _barometerZero;
     ConfigFileWrapper& _configFileWrapper;
     float _accelZeroPitch;
     float _accelZeroRoll;
-    Kalman* _kalmanFilter;
+    Kalman* _kalmanXVelFilter;
+    Kalman* _kalmanYVelFilter;
+    Kalman* _kalmanZVelFilter;
 };
 
 #endif
\ No newline at end of file