New version of quadcopter software written to OO principles
Dependencies: mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS
Diff: Sensors/Sensors.cpp
- Revision:
- 4:9ffbf9101992
- Parent:
- 3:4823d6750629
diff -r 4823d6750629 -r 9ffbf9101992 Sensors/Sensors.cpp --- a/Sensors/Sensors.cpp Fri Apr 24 16:50:20 2015 +0000 +++ b/Sensors/Sensors.cpp Fri May 08 09:07:38 2015 +0000 @@ -70,6 +70,11 @@ return _imu->getVelocity(); } +Imu::Acceleration Sensors::getImuAcceleration() +{ + return _imu->getAcceleration(); +} + void Sensors::updateImu() { _angle = _imu->getAngle(); @@ -100,7 +105,7 @@ //Compute estimated altitude float altitude = 0; - if(altitude.computed < 20 * 100) altitude = _altitude.lidar; + if(_altitude.computed < 20 * 100) altitude = _altitude.lidar; else altitude = _altitude.barometer; double estimatedAltitude = _altitudeKalmanFilter->update(predictedChange, altitude);