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.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