Matthias Grob / Mbed 2 deprecated FlyBed3

Successful acro and level mode now! Relying on MPU9250 as base sensor. I'm working continuously on tuning and features :) NEWEST VERSION ON: https://github.com/MaEtUgR/FlyBed (CODE 100% compatible/copyable)

Dependencies:   mbed

IMU/IMU_10DOF.cpp@1:60882db03b0f, 2015-09-09 (annotated)

Committer:
maetugr
Date:
Wed Sep 09 09:58:41 2015 +0000
Revision:
1:60882db03b0f
Parent:
0:37f0c1e8fa66
Child:
7:90f876d47862
Gyro P Controller on one axis tested; everything should work again

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 0:37f0c1e8fa66 1 #include "IMU_10DOF.h"
maetugr 0:37f0c1e8fa66 2
maetugr 0:37f0c1e8fa66 3 IMU_10DOF::IMU_10DOF(PinName MOSI, PinName MISO, PinName SCLK, PinName CS) : mpu(MOSI, MISO, SCLK, CS)
maetugr 0:37f0c1e8fa66 4 {
maetugr 0:37f0c1e8fa66 5 dt = 0;
maetugr 0:37f0c1e8fa66 6 dt_sensors = 0;
maetugr 0:37f0c1e8fa66 7 time_for_dt = 0;
maetugr 0:37f0c1e8fa66 8 time_for_dt_sensors = 0;
maetugr 0:37f0c1e8fa66 9
maetugr 0:37f0c1e8fa66 10 angle = Filter.angle; // initialize array pointer
maetugr 0:37f0c1e8fa66 11
maetugr 0:37f0c1e8fa66 12 LocalTimer.start();
maetugr 0:37f0c1e8fa66 13 }
maetugr 0:37f0c1e8fa66 14
maetugr 0:37f0c1e8fa66 15 void IMU_10DOF::readAngles()
maetugr 0:37f0c1e8fa66 16 {
maetugr 0:37f0c1e8fa66 17 time_for_dt_sensors = LocalTimer.read(); // start time for measuring sensors
maetugr 1:60882db03b0f 18 mpu.readGyro(); // reading sensor data
maetugr 1:60882db03b0f 19 mpu.readAcc();
maetugr 0:37f0c1e8fa66 20 dt_sensors = LocalTimer.read() - time_for_dt_sensors; // stop time for measuring sensors
maetugr 0:37f0c1e8fa66 21
maetugr 0:37f0c1e8fa66 22 // meassure dt since last measurement for the filter
maetugr 0:37f0c1e8fa66 23 dt = LocalTimer.read() - time_for_dt; // time in s since last loop
maetugr 0:37f0c1e8fa66 24 time_for_dt = LocalTimer.read(); // set new time for next measurement
maetugr 0:37f0c1e8fa66 25
maetugr 0:37f0c1e8fa66 26 Filter.compute(dt, mpu.Gyro, mpu.Acc, mpu.Acc);
maetugr 0:37f0c1e8fa66 27 }