Ran Katz
A Jedi light saber controller program with the following "features": - Using RGB LEDs - User can change light colors with a button - Motion dependent (PWM) sounds with a MPU6050 motion sensor - Low voltage detection
Dependencies: L152RE_USBDevice STM32_USB48MHz Watchdog mbed
Diff: MPU6050IMU/MPU6050.h
- Revision:
- 1:8143972a0587
- Parent:
- 0:0bb3687e39da
- Child:
- 2:59a7d4677474
diff -r 0bb3687e39da -r 8143972a0587 MPU6050IMU/MPU6050.h
--- a/MPU6050IMU/MPU6050.h Tue Mar 22 10:30:16 2016 +0000
+++ b/MPU6050IMU/MPU6050.h Thu Mar 24 21:53:12 2016 +0000
@@ -622,7 +622,7 @@
// Normalise accelerometer measurement
norm = sqrt(ax * ax + ay * ay + az * az);
- if (norm == 0.0f) return; // handle NaN
+ if (norm == 0.0f) return; // handle NaN (INF ???)
norm = 1.0f/norm;
ax *= norm;
ay *= norm;
@@ -647,6 +647,7 @@
// Normalize the gradient
norm = sqrt(hatDot1 * hatDot1 + hatDot2 * hatDot2 + hatDot3 * hatDot3 + hatDot4 * hatDot4);
+ if (norm == 0.0f) return; // handle NaN (INF ???)
hatDot1 /= norm;
hatDot2 /= norm;
hatDot3 /= norm;
@@ -679,6 +680,7 @@
// Normalize the quaternion
norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion
+ if (norm == 0.0f) return; // handle NaN (INF ???)
norm = 1.0f/norm;
q[0] = q1 * norm;
q[1] = q2 * norm;