quadcopter cufe / Mbed 2 deprecated MPU_6050_nadafa

mpu6050 nadafa

Dependencies:   mbed

main.cpp@0:8fe8d6dd7cd6, 2015-06-23 (annotated)

Committer:
khaledelmadawi
Date:
Tue Jun 23 14:47:52 2015 +0000
Revision:
0:8fe8d6dd7cd6
mpu nadafa

Who changed what in which revision?

UserRevisionLine numberNew contents of line
khaledelmadawi 0:8fe8d6dd7cd6 1 #include "mbed.h"
khaledelmadawi 0:8fe8d6dd7cd6 2 #include "AngularDataAcquizition.h"
khaledelmadawi 0:8fe8d6dd7cd6 3 AngularDataAcquizition Angle(p9, p10);
khaledelmadawi 0:8fe8d6dd7cd6 4 float AngleYaw,AngleRoll,AnglePitch,AngleOffset[3];
khaledelmadawi 0:8fe8d6dd7cd6 5 void Calibration();
khaledelmadawi 0:8fe8d6dd7cd6 6 DigitalOut myled(LED1);
khaledelmadawi 0:8fe8d6dd7cd6 7 Serial pc(p13, p14);
khaledelmadawi 0:8fe8d6dd7cd6 8
khaledelmadawi 0:8fe8d6dd7cd6 9 int main() {
khaledelmadawi 0:8fe8d6dd7cd6 10 pc.baud(115200);
khaledelmadawi 0:8fe8d6dd7cd6 11
khaledelmadawi 0:8fe8d6dd7cd6 12 AngleOffset[0]=0;
khaledelmadawi 0:8fe8d6dd7cd6 13 AngleOffset[1]=0;
khaledelmadawi 0:8fe8d6dd7cd6 14 AngleOffset[2]=0;
khaledelmadawi 0:8fe8d6dd7cd6 15 // Angle.BeginInterrupt(0.05);
khaledelmadawi 0:8fe8d6dd7cd6 16
khaledelmadawi 0:8fe8d6dd7cd6 17 while(1) {
khaledelmadawi 0:8fe8d6dd7cd6 18 Calibration();
khaledelmadawi 0:8fe8d6dd7cd6 19
khaledelmadawi 0:8fe8d6dd7cd6 20 Angle.callMeanFilteredReadings();
khaledelmadawi 0:8fe8d6dd7cd6 21 AngleYaw=(Angle.Meanypr[0]-AngleOffset[0]);
khaledelmadawi 0:8fe8d6dd7cd6 22 AnglePitch=(Angle.Meanypr[1]-AngleOffset[1]);
khaledelmadawi 0:8fe8d6dd7cd6 23 AngleRoll=(Angle.Meanypr[2]-AngleOffset[2]);
khaledelmadawi 0:8fe8d6dd7cd6 24 pc.printf("A1:%f A2:%f OP:%f\r\n",AnglePitch*180/3.14,AngleRoll*180/3.14,AngleYaw*180/3.14);
khaledelmadawi 0:8fe8d6dd7cd6 25 myled = 1;
khaledelmadawi 0:8fe8d6dd7cd6 26 wait(0.2);
khaledelmadawi 0:8fe8d6dd7cd6 27 myled = 0;
khaledelmadawi 0:8fe8d6dd7cd6 28 wait(0.2);
khaledelmadawi 0:8fe8d6dd7cd6 29 }
khaledelmadawi 0:8fe8d6dd7cd6 30 }
khaledelmadawi 0:8fe8d6dd7cd6 31 void Calibration(){
khaledelmadawi 0:8fe8d6dd7cd6 32 if(pc.readable()) {
khaledelmadawi 0:8fe8d6dd7cd6 33 switch (pc.getc()) {
khaledelmadawi 0:8fe8d6dd7cd6 34 case 'c':
khaledelmadawi 0:8fe8d6dd7cd6 35 AngleOffset[0]=Angle.Meanypr[0];
khaledelmadawi 0:8fe8d6dd7cd6 36 AngleOffset[1]=Angle.Meanypr[1];
khaledelmadawi 0:8fe8d6dd7cd6 37 AngleOffset[2]=Angle.Meanypr[2];
khaledelmadawi 0:8fe8d6dd7cd6 38
khaledelmadawi 0:8fe8d6dd7cd6 39 break;
khaledelmadawi 0:8fe8d6dd7cd6 40 }
khaledelmadawi 0:8fe8d6dd7cd6 41 }
khaledelmadawi 0:8fe8d6dd7cd6 42 }