Matthias Grob
/
FlyBed2
My fully self designed first stable working Quadrocopter Software.
IMU/IMU_10DOF.h@10:14390c90c3f5, 2015-08-31 (annotated)
- Committer:
- maetugr
- Date:
- Mon Aug 31 20:20:50 2015 +0000
- Revision:
- 10:14390c90c3f5
- Parent:
- 4:b0a60b0b24a9
before changing to MPU9250
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
maetugr | 0:12950aa67f2a | 1 | // by MaEtUgR |
maetugr | 0:12950aa67f2a | 2 | |
maetugr | 0:12950aa67f2a | 3 | #ifndef IMU_10DOF_H |
maetugr | 0:12950aa67f2a | 4 | #define IMU_10DOF_H |
maetugr | 0:12950aa67f2a | 5 | |
maetugr | 0:12950aa67f2a | 6 | #include "mbed.h" |
maetugr | 0:12950aa67f2a | 7 | #include "L3G4200D.h" // Gyro (Gyroscope) |
maetugr | 0:12950aa67f2a | 8 | #include "ADXL345.h" // Acc (Accelerometer) |
maetugr | 0:12950aa67f2a | 9 | #include "HMC5883.h" // Comp (Compass) |
maetugr | 0:12950aa67f2a | 10 | #include "BMP085.h" // Alt (Altitude sensor or Barometer) |
maetugr | 4:b0a60b0b24a9 | 11 | #include "MPU6050.h" // Combined Gyroscope & Accelerometer |
maetugr | 0:12950aa67f2a | 12 | #include "IMU_Filter.h" // Class to calculate position angles (algorithm from S.O.H. Madgwick, see header file for info) |
maetugr | 10:14390c90c3f5 | 13 | //#include "MPU9250.h" // Combined Gyroscope & Accelerometer & Magnetometer over SPI |
maetugr | 0:12950aa67f2a | 14 | |
maetugr | 0:12950aa67f2a | 15 | class IMU_10DOF |
maetugr | 0:12950aa67f2a | 16 | { |
maetugr | 0:12950aa67f2a | 17 | public: |
maetugr | 0:12950aa67f2a | 18 | IMU_10DOF(PinName sda, PinName scl); |
maetugr | 0:12950aa67f2a | 19 | void readAngles(); // read all axis from register to array data |
maetugr | 0:12950aa67f2a | 20 | void readAltitude(); // read all axis from register to array data |
maetugr | 0:12950aa67f2a | 21 | |
maetugr | 0:12950aa67f2a | 22 | float * angle; // where the measured and calculated data is saved |
maetugr | 0:12950aa67f2a | 23 | float temperature; |
maetugr | 0:12950aa67f2a | 24 | float pressure; |
maetugr | 0:12950aa67f2a | 25 | float altitude; |
maetugr | 0:12950aa67f2a | 26 | |
maetugr | 2:03e5f7ab473f | 27 | float dt; // time for entire loop |
maetugr | 2:03e5f7ab473f | 28 | float dt_sensors; // time only to read sensors |
maetugr | 0:12950aa67f2a | 29 | |
maetugr | 10:14390c90c3f5 | 30 | //MPU9250 mpu; // All sensors Hardwaredrivers |
maetugr | 10:14390c90c3f5 | 31 | MPU6050 Sensor; |
maetugr | 4:b0a60b0b24a9 | 32 | L3G4200D Gyro; |
maetugr | 0:12950aa67f2a | 33 | ADXL345 Acc; |
maetugr | 0:12950aa67f2a | 34 | HMC5883 Comp; |
maetugr | 0:12950aa67f2a | 35 | BMP085 Alt; |
maetugr | 2:03e5f7ab473f | 36 | |
maetugr | 2:03e5f7ab473f | 37 | private: |
maetugr | 2:03e5f7ab473f | 38 | Timer LocalTimer; // local time to calculate processing speed for entire loop and just reading sensors |
maetugr | 2:03e5f7ab473f | 39 | float time_for_dt; // | |
maetugr | 2:03e5f7ab473f | 40 | float time_for_dt_sensors; // | |
maetugr | 0:12950aa67f2a | 41 | |
maetugr | 0:12950aa67f2a | 42 | IMU_Filter Filter; // Filterclass to join sensor data |
maetugr | 0:12950aa67f2a | 43 | }; |
maetugr | 0:12950aa67f2a | 44 | |
maetugr | 0:12950aa67f2a | 45 | #endif |