Diff: IMU/IMU_10DOF.cpp

Revision:

7:90f876d47862

Parent:

1:60882db03b0f

Child:

8:609a2ad4c30e

--- a/IMU/IMU_10DOF.cpp	Fri Sep 11 10:10:36 2015 +0000
+++ b/IMU/IMU_10DOF.cpp	Mon Sep 14 12:49:08 2015 +0000
@@ -4,24 +4,24 @@
 {
     dt = 0;
     dt_sensors = 0;
-    time_for_dt = 0;
-    time_for_dt_sensors = 0;
     
     angle = Filter.angle;           // initialize array pointer
     
-    LocalTimer.start();
+    LoopTimer.start();
 }
 
 void IMU_10DOF::readAngles()
 {
-    time_for_dt_sensors = LocalTimer.read(); // start time for measuring sensors
+    SensorTimer.start(); // start time for measuring sensors
     mpu.readGyro(); // reading sensor data
     mpu.readAcc();
-    dt_sensors = LocalTimer.read() - time_for_dt_sensors; // stop time for measuring sensors
+    SensorTimer.stop(); // stop time for measuring sensors
+    dt_sensors = SensorTimer.read();
+    SensorTimer.reset();
 
     // meassure dt since last measurement 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
+    dt = LoopTimer.read(); // time in s since last loop
+    LoopTimer.reset();
     
     Filter.compute(dt, mpu.Gyro, mpu.Acc, mpu.Acc);
 }
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