Matthias Grob
/
FlyBed2
My fully self designed first stable working Quadrocopter Software.
Diff: IMU/IMU_10DOF.cpp
- Revision:
- 10:14390c90c3f5
- Parent:
- 4:b0a60b0b24a9
--- a/IMU/IMU_10DOF.cpp Mon Jul 14 09:06:43 2014 +0000 +++ b/IMU/IMU_10DOF.cpp Mon Aug 31 20:20:50 2015 +0000 @@ -17,6 +17,8 @@ void IMU_10DOF::readAngles() { time_for_dt_sensors = LocalTimer.read(); // start time for measuring sensors + //mpu.readGyro(); + //mpu.readAcc(); Sensor.read(); //Gyro.read(); // reading sensor data //Acc.read(); @@ -27,6 +29,7 @@ dt = LocalTimer.read() - time_for_dt; // time in s since last loop time_for_dt = LocalTimer.read(); // set new time for next measurement + //Filter.compute(dt, mpu.Gyro, mpu.Acc, Comp.data); Filter.compute(dt, Sensor.data_gyro, Sensor.data_acc, Comp.data); //Filter.compute(dt, Gyro.data, Acc.data, Comp.data); }