File content as of revision 0:8fe8d6dd7cd6:

#include "mbed.h"
#include "AngularDataAcquizition.h"
AngularDataAcquizition Angle(p9, p10);
float AngleYaw,AngleRoll,AnglePitch,AngleOffset[3];
void Calibration();
DigitalOut myled(LED1);
Serial pc(p13, p14);

int main() {
    pc.baud(115200);

    AngleOffset[0]=0;
    AngleOffset[1]=0;
    AngleOffset[2]=0;
 // Angle.BeginInterrupt(0.05);
  
    while(1) {
        Calibration();
            
        Angle.callMeanFilteredReadings();
        AngleYaw=(Angle.Meanypr[0]-AngleOffset[0]);
        AnglePitch=(Angle.Meanypr[1]-AngleOffset[1]);
        AngleRoll=(Angle.Meanypr[2]-AngleOffset[2]);
        pc.printf("A1:%f A2:%f OP:%f\r\n",AnglePitch*180/3.14,AngleRoll*180/3.14,AngleYaw*180/3.14);   
        myled = 1;
        wait(0.2);
        myled = 0;
        wait(0.2);
    }
}
void Calibration(){
       if(pc.readable()) {
        switch (pc.getc()) {
            case 'c':
                AngleOffset[0]=Angle.Meanypr[0];
                AngleOffset[1]=Angle.Meanypr[1];
                AngleOffset[2]=Angle.Meanypr[2];

             break;
    }
}
}