Nathan Ewin / Mbed 2 deprecated UM6_IMU_AHRS_edit_NJE

Trying to log data from UM6 sensor with GPS receiver LS20031. I have two problems: - I can't log to file at a fast rate (<0.5s) without data values freezing to a fixed value. Print to pc screen it works fine. Ideally I would do this with an interrupt (e.g. ticker) so that the time of each reading is a fixed interval - I removed this as I thought this was causing the problem. - I want to record GPS lat and long. I have setup the GPS ground speed so I know the sensor are communicating. So I possibly havent set the config file to correctly interpet these two signals.

Dependencies:   MODSERIAL mbed

Fork of UM6_IMU_AHRS_2012 by lhiggs CSUM

Diff: UM6_config/UM6_config.h

Revision:
6:43029c69b9ac
Parent:
3:0cfe2e18440d
--- a/UM6_config/UM6_config.h	Thu May 02 11:38:25 2013 +0000
+++ b/UM6_config/UM6_config.h	Sat May 04 09:34:15 2013 +0000
@@ -1,9 +1,13 @@
 /* ------------------------------------------------------------------------------
   File: UM6_config.h
-  Author: CH Robotics
+  Author: CH Robotics, edited by Nathan Ewin
   Version: 1.0
 
   Description: Preprocessor definitions and function declarations for UM6 configuration
+  
+  // added configuration for GPS signals from LS20031 sensor connected to UM6
+  // GPS ground speed and heading angle setup outputs data
+  // GPS latitude and longitude not setup correctly
 ------------------------------------------------------------------------------ */
 #ifndef __UM6_CONFIG_H
 #define __UM6_CONFIG_H
@@ -469,17 +473,17 @@
                                 } 
                                 //-------------------------------------------------------------------
                                 // GPS long
-                       //        if (new_packet.address == UM6_GPS_LONGITUDE) {
+                               if (new_packet.address == UM6_GPS_LONGITUDE) {
                                     // Longitude                                 
-                       //            data.GPS_long = MY_DATA_GPS_LONG;  
-                       //        }  
+                                  data.GPS_long = MY_DATA_GPS_LONG;  
+                               }  
                                 //------------------------------------------------------------
                                //-------------------------------------------------------------------
                                 // GPS lat
-                       //        if (new_packet.address == UM6_GPS_LATITUDE) {
+                               if (new_packet.address == UM6_GPS_LATITUDE) {
                                     // Latitude                                 
-                       //            data.GPS_lat = MY_DATA_GPS_LAT;  
-                       //        }  
+                                   data.GPS_lat = MY_DATA_GPS_LAT;  
+                               }  
                                 //------------------------------------------------------------ 
                             }    // end if(ADDRESS_TYPE_DATA)