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)
Diff: IMU/IMU_10DOF.h
- Revision:
- 8:609a2ad4c30e
- Parent:
- 7:90f876d47862
--- a/IMU/IMU_10DOF.h Mon Sep 14 12:49:08 2015 +0000 +++ b/IMU/IMU_10DOF.h Thu Nov 19 18:47:27 2015 +0000 @@ -5,12 +5,13 @@ #include "mbed.h" #include "MPU9250.h" // Combined Gyroscope & Accelerometer & Magnetometer over SPI +#include "MPU6050.h" // Combined Gyroscope & Accelerometer #include "IMU_Filter.h" // Class to calculate position angles (algorithm from S.O.H. Madgwick, see header file for info) class IMU_10DOF { public: - IMU_10DOF(PinName MOSI, PinName MISO, PinName SCLK, PinName CS); + IMU_10DOF(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName SDA, PinName SCL); void readAngles(); // read all sensors and calculate angles float * angle; // where the measured and calculated data is saved @@ -22,6 +23,7 @@ float dt_sensors; // time only to read sensors MPU9250 mpu; // The sensor Hardware Driver + MPU6050 mpu2; private: Timer LoopTimer; // local time to calculate processing speed for entire loop