Matthias Grob
/
FlyBed2
My fully self designed first stable working Quadrocopter Software.
Diff: IMU/IMU_10DOF.cpp
- Revision:
- 4:b0a60b0b24a9
- Parent:
- 0:12950aa67f2a
- Child:
- 10:14390c90c3f5
--- a/IMU/IMU_10DOF.cpp Tue Sep 24 15:15:39 2013 +0000 +++ b/IMU/IMU_10DOF.cpp Sat Feb 15 14:28:11 2014 +0000 @@ -1,6 +1,6 @@ #include "IMU_10DOF.h" -IMU_10DOF::IMU_10DOF(PinName sda, PinName scl) : Gyro(sda, scl), Acc(sda, scl), Comp(sda, scl), Alt(sda,scl) +IMU_10DOF::IMU_10DOF(PinName sda, PinName scl) : Sensor(p28, p27), Gyro(sda, scl), Acc(sda, scl), Comp(sda, scl), Alt(sda,scl) { dt = 0; dt_sensors = 0; @@ -9,22 +9,26 @@ angle = Filter.angle; // initialize array pointer + Sensor.calibrate(50, 0.02); + LocalTimer.start(); } void IMU_10DOF::readAngles() { time_for_dt_sensors = LocalTimer.read(); // start time for measuring sensors - Gyro.read(); // reading sensor data - Acc.read(); - Comp.read(); + Sensor.read(); + //Gyro.read(); // reading sensor data + //Acc.read(); + //Comp.read(); dt_sensors = LocalTimer.read() - time_for_dt_sensors; // stop time for measuring sensors // meassure dt for the filter 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, Gyro.data, Acc.data, Comp.data); + Filter.compute(dt, Sensor.data_gyro, Sensor.data_acc, Comp.data); + //Filter.compute(dt, Gyro.data, Acc.data, Comp.data); } void IMU_10DOF::readAltitude()