Matthias Grob / Mbed 2 deprecated FlyBed1

NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.

Dependencies:   mbed MODI2C

IMU/IMU_Filter.h

Committer:
maetugr
Date:
2012-11-28
Revision:
27:9e546fa47c33
Parent:
26:96a072233d7a

File content as of revision 27:9e546fa47c33:

// by MaEtUgR

#ifndef IMU_FILTER_H
#define IMU_FILTER_H

#include "mbed.h"

#define Rad2Deg         57.295779513082320876798154814105 // factor between radians and degrees of angle (180/Pi)

class IMU_Filter
{
    public:
        IMU_Filter();
        void compute(unsigned long dt, const float * gyro_data, const int * acc_data);
        float angle[3];                                 // calculated values of the position [0: x,roll | 1: y,pitch | 2: z,yaw]
    private:
        float d_Gyro_angle[3];
        void get_Acc_angle(const int * Acc_data);
        float Acc_angle[3];
};

#endif