Mohamed Ashraf / MPU6050-DMP

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Dependents:   MPU6050DMPV2

Files at this revision

API Documentation at this revision

Revision 13:0fc0f858fe0c, committed 2020-03-18

Comitter:
mohamedashraf
Date:
Wed Mar 18 21:53:16 2020 +0000
Parent:
12:775e1464e042
Commit message:
dmp angles code

Changed in this revision

MyMPU6050.h Show annotated file Show diff for this revision Revisions of this file 
--- a/MyMPU6050.h	Wed Dec 09 03:25:10 2015 +0000
+++ b/MyMPU6050.h	Wed Mar 18 21:53:16 2020 +0000
@@ -22,12 +22,15 @@
             _pc = pc;
         }
         
+        float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
+        
+        
         void loop() {
             // if programming failed, don't try to do anything
             if (!dmpReady) return;
             
 //            _pc->printf("dmp ready\n");
-            
+            mpuInterrupt=true;
             // wait for MPU interrupt or extra packet(s) available
             if (!mpuInterrupt && fifoCount < packetSize) {
                 return;
@@ -74,7 +77,7 @@
                 mpu.dmpGetQuaternion(&q, fifoBuffer);
                 mpu.dmpGetGravity(&gravity, &q);
                 mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
-                mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
+                //mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
                 float newTheta;
                 if (ypr[1]>0) newTheta = ypr[2];
                 else if (ypr[2]<0) newTheta = -M_PI-ypr[2];
@@ -146,7 +149,6 @@
         // orientation/motion vars
         Quaternion q;           // [w, x, y, z]         quaternion container
         VectorFloat gravity;    // [x, y, z]            gravity vector
-        float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
         int16_t gyroData[3];
         volatile float theta;
         bool thetaInitFlag;