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)
IMU/IMU_10DOF.h
- Committer:
- maetugr
- Date:
- 2015-09-08
- Revision:
- 0:37f0c1e8fa66
- Child:
- 7:90f876d47862
File content as of revision 0:37f0c1e8fa66:
// by MaEtUgR #ifndef IMU_10DOF_H #define IMU_10DOF_H #include "mbed.h" #include "MPU9250.h" // Combined Gyroscope & Accelerometer & Magnetometer over SPI #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); void readAngles(); // read all sensors and calculate angles float * angle; // where the measured and calculated data is saved float temperature; float pressure; float altitude; float dt; // time for entire loop float dt_sensors; // time only to read sensors MPU9250 mpu; // The sensor Hardware Driver private: Timer LocalTimer; // local time to calculate processing speed for entire loop and just reading sensors float time_for_dt; // | float time_for_dt_sensors; // | IMU_Filter Filter; // Filterclass to join sensor data }; #endif