Acceleration in meter per second square
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Revision 8:0e3519559bcb, committed 2016-06-15
- Comitter:
- mbedproject
- Date:
- Wed Jun 15 22:28:32 2016 +0000
- Parent:
- 7:c9f95ebeb780
- Commit message:
- Hexcopter_IMU_distance_v1;
Changed in this revision
MPU6050.cpp | Show annotated file Show diff for this revision Revisions of this file |
MPU6050.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r c9f95ebeb780 -r 0e3519559bcb MPU6050.cpp --- a/MPU6050.cpp Sat May 14 05:32:28 2016 +0000 +++ b/MPU6050.cpp Wed Jun 15 22:28:32 2016 +0000 @@ -59,6 +59,7 @@ // Sensor datas float ax,ay,az; float gx,gy,gz; +float axx; int16_t accelData[3],gyroData[3],tempData; float accelBias[3] = {0, 0, 0}; // Bias corrections for acc float gyroBias[3] = {0, 0, 0}; // Bias corrections for gyro @@ -142,15 +143,15 @@ void MPU6050::checkaddress() { uint8_t checkaddress = readByte(MPU6050_ADDRESS, CHECKADDRESS_MPU6050); // Should return 0x68 - pc.printf("I AM 0x%x \r\n",checkaddress); + pc.printf("Sensor Address ID: 0x%x \r\n",checkaddress); if(checkaddress==0x68) { - pc.printf("MPU6050 is connected... \r\n"); + pc.printf("IMU is online now... \r\n"); } else { - pc.printf("No connection to MPU6050 !! Check the connections... \r\n"); + pc.printf("No connection to IMU !! Check the connections... \r\n"); } } @@ -353,6 +354,8 @@ ax = accelData[0]*aRes - accelBias[0]; ay = accelData[1]*aRes - accelBias[1]; az = accelData[2]*aRes - accelBias[2]; + + axx = 9.80665f * ax; /* Get actual gyro value */ readGyroData(gyroData);
diff -r c9f95ebeb780 -r 0e3519559bcb MPU6050.h --- a/MPU6050.h Sat May 14 05:32:28 2016 +0000 +++ b/MPU6050.h Wed Jun 15 22:28:32 2016 +0000 @@ -46,6 +46,7 @@ extern float gx,gy,gz; extern int16_t accelData[3],gyroData[3],tempData; extern float accelBias[3], gyroBias[3]; +extern float axx; /* Function Prototypes */ class MPU6050