An fully working IMU-Filter and Sensor drivers for the 10DOF-Board over I2C. All in one simple class. Include, calibrate sensors, call read, get angles. (3D Visualisation code for Python also included) Sensors: L3G4200D, ADXL345, HMC5883, BMP085
Diff: IMU/IMU_10DOF.h
- Revision:
- 4:f62337b907e5
- Parent:
- 1:798db5deb8b9
diff -r 6dbefedce7fe -r f62337b907e5 IMU/IMU_10DOF.h --- a/IMU/IMU_10DOF.h Tue Aug 27 22:18:25 2013 +0000 +++ b/IMU/IMU_10DOF.h Thu Aug 29 13:52:30 2013 +0000 @@ -7,15 +7,20 @@ #include "L3G4200D.h" // Gyro (Gyroscope) #include "ADXL345.h" // Acc (Accelerometer) #include "HMC5883.h" // Comp (Compass) -#include "IMU_Filter.h" // Class to calculate position angles +#include "BMP085.h" // Alt (Altitude sensor or Barometer) +#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 sda, PinName scl); - void read(); // read all axis from register to array data + void readAngles(); // read all axis from register to array data + void readAltitude(); // read all axis from register to array data - float * angle; // where the measured and calculated angles are saved + float * angle; // where the measured and calculated data is saved + float temperature; + float pressure; + float altitude; float dt; // local time to calculate processing speed for entire loop and just reading sensors float dt_sensors; // | @@ -27,6 +32,8 @@ L3G4200D Gyro; // All sensors Hardwaredrivers ADXL345 Acc; HMC5883 Comp; + BMP085 Alt; + IMU_Filter Filter; // Filterclass to join sensor data };