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/Sensors.cpp

Revision:
4:9ffbf9101992
Parent:
3:4823d6750629
--- 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);