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.cpp
- Revision:
- 4:9ffbf9101992
- Parent:
- 3:4823d6750629
--- a/Sensors/Imu/Imu.cpp Fri Apr 24 16:50:20 2015 +0000 +++ b/Sensors/Imu/Imu.cpp Fri May 08 09:07:38 2015 +0000 @@ -93,6 +93,20 @@ return (normalAltitude * 100); } +Imu::Acceleration Imu::getAcceleration() +{ + //Get raw accel data + float values[9]; + _freeImu.getValues(values); + + Acceleration acceleration; + acceleration.x = values[0]; + acceleration.y = values[1]; + acceleration.z = values[2]; + + return acceleration; +} + Imu::Velocity Imu::getVelocity(float time) { //Get quaternion