Matthias Grob / Mbed 2 deprecated FlyBed2

My fully self designed first stable working Quadrocopter Software.

Dependencies:   mbed

Dependents:   fluy343

/media/uploads/maetugr/dsc09031.jpg

IMU/IMU_10DOF.cpp@0:12950aa67f2a, 2013-09-02 (annotated)

Committer:
maetugr
Date:
Mon Sep 02 15:04:22 2013 +0000
Revision:
0:12950aa67f2a
Child:
4:b0a60b0b24a9
first commit of new version (only one axis for test until now); note: no more Ticker! (made problems because of interrupts)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 0:12950aa67f2a 1 #include "IMU_10DOF.h"
maetugr 0:12950aa67f2a 2
maetugr 0:12950aa67f2a 3 IMU_10DOF::IMU_10DOF(PinName sda, PinName scl) : Gyro(sda, scl), Acc(sda, scl), Comp(sda, scl), Alt(sda,scl)
maetugr 0:12950aa67f2a 4 {
maetugr 0:12950aa67f2a 5 dt = 0;
maetugr 0:12950aa67f2a 6 dt_sensors = 0;
maetugr 0:12950aa67f2a 7 time_for_dt = 0;
maetugr 0:12950aa67f2a 8 time_for_dt_sensors = 0;
maetugr 0:12950aa67f2a 9
maetugr 0:12950aa67f2a 10 angle = Filter.angle; // initialize array pointer
maetugr 0:12950aa67f2a 11
maetugr 0:12950aa67f2a 12 LocalTimer.start();
maetugr 0:12950aa67f2a 13 }
maetugr 0:12950aa67f2a 14
maetugr 0:12950aa67f2a 15 void IMU_10DOF::readAngles()
maetugr 0:12950aa67f2a 16 {
maetugr 0:12950aa67f2a 17 time_for_dt_sensors = LocalTimer.read(); // start time for measuring sensors
maetugr 0:12950aa67f2a 18 Gyro.read(); // reading sensor data
maetugr 0:12950aa67f2a 19 Acc.read();
maetugr 0:12950aa67f2a 20 Comp.read();
maetugr 0:12950aa67f2a 21 dt_sensors = LocalTimer.read() - time_for_dt_sensors; // stop time for measuring sensors
maetugr 0:12950aa67f2a 22
maetugr 0:12950aa67f2a 23 // meassure dt for the filter
maetugr 0:12950aa67f2a 24 dt = LocalTimer.read() - time_for_dt; // time in s since last loop
maetugr 0:12950aa67f2a 25 time_for_dt = LocalTimer.read(); // set new time for next measurement
maetugr 0:12950aa67f2a 26
maetugr 0:12950aa67f2a 27 Filter.compute(dt, Gyro.data, Acc.data, Comp.data);
maetugr 0:12950aa67f2a 28 }
maetugr 0:12950aa67f2a 29
maetugr 0:12950aa67f2a 30 void IMU_10DOF::readAltitude()
maetugr 0:12950aa67f2a 31 {
maetugr 0:12950aa67f2a 32 Alt.read();
maetugr 0:12950aa67f2a 33 temperature = Alt.Temperature; // copy all resulting measurements
maetugr 0:12950aa67f2a 34 pressure = Alt.Pressure;
maetugr 0:12950aa67f2a 35 altitude = Alt.Altitude;
maetugr 0:12950aa67f2a 36 }