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@4:b0a60b0b24a9, 2014-02-15 (annotated)

Committer:
maetugr
Date:
Sat Feb 15 14:28:11 2014 +0000
Revision:
4:b0a60b0b24a9
Parent:
0:12950aa67f2a
Child:
10:14390c90c3f5
After setting MPU6050 up

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 0:12950aa67f2a 1 #include "IMU_10DOF.h"
maetugr 0:12950aa67f2a 2
maetugr 4:b0a60b0b24a9 3 IMU_10DOF::IMU_10DOF(PinName sda, PinName scl) : Sensor(p28, p27), 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 4:b0a60b0b24a9 12 Sensor.calibrate(50, 0.02);
maetugr 4:b0a60b0b24a9 13
maetugr 0:12950aa67f2a 14 LocalTimer.start();
maetugr 0:12950aa67f2a 15 }
maetugr 0:12950aa67f2a 16
maetugr 0:12950aa67f2a 17 void IMU_10DOF::readAngles()
maetugr 0:12950aa67f2a 18 {
maetugr 0:12950aa67f2a 19 time_for_dt_sensors = LocalTimer.read(); // start time for measuring sensors
maetugr 4:b0a60b0b24a9 20 Sensor.read();
maetugr 4:b0a60b0b24a9 21 //Gyro.read(); // reading sensor data
maetugr 4:b0a60b0b24a9 22 //Acc.read();
maetugr 4:b0a60b0b24a9 23 //Comp.read();
maetugr 0:12950aa67f2a 24 dt_sensors = LocalTimer.read() - time_for_dt_sensors; // stop time for measuring sensors
maetugr 0:12950aa67f2a 25
maetugr 0:12950aa67f2a 26 // meassure dt for the filter
maetugr 0:12950aa67f2a 27 dt = LocalTimer.read() - time_for_dt; // time in s since last loop
maetugr 0:12950aa67f2a 28 time_for_dt = LocalTimer.read(); // set new time for next measurement
maetugr 0:12950aa67f2a 29
maetugr 4:b0a60b0b24a9 30 Filter.compute(dt, Sensor.data_gyro, Sensor.data_acc, Comp.data);
maetugr 4:b0a60b0b24a9 31 //Filter.compute(dt, Gyro.data, Acc.data, Comp.data);
maetugr 0:12950aa67f2a 32 }
maetugr 0:12950aa67f2a 33
maetugr 0:12950aa67f2a 34 void IMU_10DOF::readAltitude()
maetugr 0:12950aa67f2a 35 {
maetugr 0:12950aa67f2a 36 Alt.read();
maetugr 0:12950aa67f2a 37 temperature = Alt.Temperature; // copy all resulting measurements
maetugr 0:12950aa67f2a 38 pressure = Alt.Pressure;
maetugr 0:12950aa67f2a 39 altitude = Alt.Altitude;
maetugr 0:12950aa67f2a 40 }