Kris Winer
Added mag calibration and interrupt-based data ready
Dependencies: BLE_API mbed-src nRF51822
Diff: main.cpp
- Revision:
- 4:8d11bfc7cac0
- Parent:
- 3:fe46f14f5aef
diff -r fe46f14f5aef -r 8d11bfc7cac0 main.cpp
--- a/main.cpp Mon Jun 15 21:34:33 2015 +0000
+++ b/main.cpp Thu Sep 22 01:21:24 2016 +0000
@@ -1,98 +1,141 @@
/* MPU9250 Basic Example Code
by: Kris Winer
- date: April 1, 2014
+ date: September 20, 2016
license: Beerware - Use this code however you'd like. If you
find it useful you can buy me a beer some time.
Demonstrate basic MPU-9250 functionality including parameterizing the register addresses, initializing the sensor,
getting properly scaled accelerometer, gyroscope, and magnetometer data out. Added display functions to
allow display to on breadboard monitor. Addition of 9 DoF sensor fusion using open source Madgwick and
- Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini and the Teensy 3.1.
+ Mahony filter algorithms.
SDA and SCL should have external pull-up resistors (to 3.3V).
- 10k resistors are on the EMSENSR-9250 breakout board.
-
- Hardware setup:
- MPU9250 Breakout --------- Arduino
- VDD ---------------------- 3.3V
- VDDI --------------------- 3.3V
- SDA ----------------------- A4
- SCL ----------------------- A5
- GND ---------------------- GND
-
- Note: The MPU9250 is an I2C sensor and uses the Arduino Wire library.
- Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or a 3.3 V Teensy 3.1.
- We have disabled the internal pull-ups used by the Wire library in the Wire.h/twi.c utility file.
- We are also using the 400 kHz fast I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file.
*/
-//#include "ST_F401_84MHZ.h"
-//F401_init84 myinit(0);
#include "mbed.h"
#include "MPU9250.h"
-#include "N5110.h"
+#include "BMP280.h"
+#include "math.h"
-// Using NOKIA 5110 monochrome 84 x 48 pixel display
-// pin 9 - Serial clock out (SCLK)
-// pin 8 - Serial data out (DIN)
-// pin 7 - Data/Command select (D/C)
-// pin 5 - LCD chip select (CS)
-// pin 6 - LCD reset (RST)
-//Adafruit_PCD8544 display = Adafruit_PCD8544(9, 8, 7, 5, 6);
+ MPU9250 mpu9250; // Instantiate MPU9250 class
+
+ BMP280 bmp280; // Instantiate BMP280 class
+
+ Timer t;
+
+ InterruptIn myInterrupt(P0_8); // One nRF52 Dev Board variant uses pin 8, one uses pin 10
+
+/* Serial pc(USBTX, USBRX); // tx, rx*/
+ Serial pc(P0_12, P0_14); // tx, rx
float sum = 0;
uint32_t sumCount = 0;
char buffer[14];
+uint8_t whoami = 0;
+double Temperature, Pressure; // stores BMP280 pressures sensor pressure and temperature
+int32_t rawPress, rawTemp; // pressure and temperature raw count output for BMP280
- MPU9250 mpu9250;
-
- Timer t;
+int32_t readBMP280Temperature()
+{
+ uint8_t rawData[3]; // 20-bit pressure register data stored here
+ bmp280.readBytes(BMP280_ADDRESS, BMP280_TEMP_MSB, 3, &rawData[0]);
+ return (int32_t) (((int32_t) rawData[0] << 16 | (int32_t) rawData[1] << 8 | rawData[2]) >> 4);
+}
+
+int32_t readBMP280Pressure()
+{
+ uint8_t rawData[3]; // 20-bit pressure register data stored here
+ bmp280.readBytes(BMP280_ADDRESS, BMP280_PRESS_MSB, 3, &rawData[0]);
+ return (int32_t) (((int32_t) rawData[0] << 16 | (int32_t) rawData[1] << 8 | rawData[2]) >> 4);
+}
+
+// Returns temperature in DegC, resolution is 0.01 DegC. Output value of
+// “5123” equals 51.23 DegC.
+int32_t bmp280_compensate_T(int32_t adc_T)
+{
+ int32_t var1, var2, T;
+ var1 = ((((adc_T >> 3) - ((int32_t)dig_T1 << 1))) * ((int32_t)dig_T2)) >> 11;
+ var2 = (((((adc_T >> 4) - ((int32_t)dig_T1)) * ((adc_T >> 4) - ((int32_t)dig_T1))) >> 12) * ((int32_t)dig_T3)) >> 14;
+ t_fine = var1 + var2;
+ T = (t_fine * 5 + 128) >> 8;
+ return T;
+}
- Serial pc(USBTX, USBRX); // tx, rx
+// Returns pressure in Pa as unsigned 32 bit integer in Q24.8 format (24 integer bits and 8
+//fractional bits).
+//Output value of “24674867” represents 24674867/256 = 96386.2 Pa = 963.862 hPa
+uint32_t bmp280_compensate_P(int32_t adc_P)
+{
+ long long var1, var2, p;
+ var1 = ((long long)t_fine) - 128000;
+ var2 = var1 * var1 * (long long)dig_P6;
+ var2 = var2 + ((var1*(long long)dig_P5)<<17);
+ var2 = var2 + (((long long)dig_P4)<<35);
+ var1 = ((var1 * var1 * (long long)dig_P3)>>8) + ((var1 * (long long)dig_P2)<<12);
+ var1 = (((((long long)1)<<47)+var1))*((long long)dig_P1)>>33;
+ if(var1 == 0)
+ {
+ return 0;
+ // avoid exception caused by division by zero
+ }
+ p = 1048576 - adc_P;
+ p = (((p<<31) - var2)*3125)/var1;
+ var1 = (((long long)dig_P9) * (p>>13) * (p>>13)) >> 25;
+ var2 = (((long long)dig_P8) * p)>> 19;
+ p = ((p + var1 + var2) >> 8) + (((long long)dig_P7)<<4);
+ return (uint32_t)p;
+}
- // VCC, SCE, RST, D/C, MOSI,S CLK, LED
- N5110 lcd(P0_8, P0_10, P0_9, P0_6, P0_7, P0_5, P0_7);
-
-
+void myinthandler() // interrupt handler
+{
+ newData = true;
+}
+
int main()
{
pc.baud(9600);
-
+ myled = 0; // turn off led
+
+ wait(5);
+
//Set up I2C
i2c.frequency(400000); // use fast (400 kHz) I2C
+
+ t.start(); // enable system timer
- pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
-
- t.start();
+ myled = 1; // turn on led
+
+ myInterrupt.rise(&myinthandler); // define interrupt for INT pin output of MPU9250
- lcd.init();
-// lcd.setBrightness(0.05);
+ // Read the WHO_AM_I register, this is a good test of communication
+ whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
+ pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r");
+ myled = 1;
-
- // Read the WHO_AM_I register, this is a good test of communication
- uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
- pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r");
-
- if (whoami == 0x71) // WHO_AM_I should always be 0x68
+ if (whoami == 0x71) // WHO_AM_I should always be 0x71
{
pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami);
pc.printf("MPU9250 is online...\n\r");
- lcd.clear();
- lcd.printString("MPU9250 is", 0, 0);
- sprintf(buffer, "0x%x", whoami);
- lcd.printString(buffer, 0, 1);
- lcd.printString("shoud be 0x71", 0, 2);
wait(1);
mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
+
mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values
- pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]);
- pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]);
- pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]);
- pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]);
- pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]);
- pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]);
+ pc.printf("x-axis self test: acceleration trim within: %f pct of factory value\n\r", SelfTest[0]);
+ pc.printf("y-axis self test: acceleration trim within: %f pct of factory value\n\r", SelfTest[1]);
+ pc.printf("z-axis self test: acceleration trim within: %f pct of factory value\n\r", SelfTest[2]);
+ pc.printf("x-axis self test: gyration trim within: %f pct of factory value\n\r", SelfTest[3]);
+ pc.printf("y-axis self test: gyration trim within: %f pct of factory value\n\r", SelfTest[4]);
+ pc.printf("z-axis self test: gyration trim within: %f pct of factory value\n\r", SelfTest[5]);
+
+ mpu9250.getAres(); // Get accelerometer sensitivity
+ mpu9250.getGres(); // Get gyro sensitivity
+ mpu9250.getMres(); // Get magnetometer sensitivity
+ pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
+ pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
+ pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
+
mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
pc.printf("x gyro bias = %f\n\r", gyroBias[0]);
pc.printf("y gyro bias = %f\n\r", gyroBias[1]);
@@ -101,8 +144,11 @@
pc.printf("y accel bias = %f\n\r", accelBias[1]);
pc.printf("z accel bias = %f\n\r", accelBias[2]);
wait(2);
+
mpu9250.initMPU9250();
pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
+ wait(1);
+
mpu9250.initAK8963(magCalibration);
pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale));
@@ -111,56 +157,117 @@
if(Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r");
if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r");
if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r");
- wait(1);
- }
+
+ pc.printf("Mag Calibration: Wave device in a figure eight until done!");
+ wait(4);
+ mpu9250.magcalMPU9250(magBias, magScale);
+ pc.printf("Mag Calibration done!\n\r");
+ pc.printf("x mag bias = %f\n\r", magBias[0]);
+ pc.printf("y mag bias = %f\n\r", magBias[1]);
+ pc.printf("z mag bias = %f\n\r", magBias[2]);
+ wait(2);
+ }
+
else
+
{
pc.printf("Could not connect to MPU9250: \n\r");
pc.printf("%#x \n", whoami);
-
- lcd.clear();
- lcd.printString("MPU9250", 0, 0);
- lcd.printString("no connection", 0, 1);
- sprintf(buffer, "WHO_AM_I 0x%x", whoami);
- lcd.printString(buffer, 0, 2);
+ myled = 0;
while(1) ; // Loop forever if communication doesn't happen
}
+
+ // Read the WHO_AM_I register of the BMP-280, this is a good test of communication
+ uint8_t c = bmp280.readByte(BMP280_ADDRESS, BMP280_ID);
+ if(c == 0x58) {
+
+ pc.printf("BMP-280 is 0x%x\n\r", c);
+ pc.printf("BMP-280 should be 0x58\n\r");
+ pc.printf("BMP-280 online...\n\r");
+
+ //bmp280.BMP280Init();
+
+ // Set T and P oversampling rates and sensor mode
+ bmp280.writeByte(BMP280_ADDRESS, BMP280_CTRL_MEAS, Tosr << 5 | Posr << 2 | Mode);
+ // Set standby time interval in normal mode and bandwidth
+ bmp280.writeByte(BMP280_ADDRESS, BMP280_CONFIG, SBy << 5 | IIRFilter << 2);
+ uint8_t calib[24];
+ bmp280.readBytes(BMP280_ADDRESS, BMP280_CALIB00, 24, &calib[0]);
+ dig_T1 = (uint16_t)(((uint16_t) calib[1] << 8) | calib[0]);
+ dig_T2 = ( int16_t)((( int16_t) calib[3] << 8) | calib[2]);
+ dig_T3 = ( int16_t)((( int16_t) calib[5] << 8) | calib[4]);
+ dig_P1 = (uint16_t)(((uint16_t) calib[7] << 8) | calib[6]);
+ dig_P2 = ( int16_t)((( int16_t) calib[9] << 8) | calib[8]);
+ dig_P3 = ( int16_t)((( int16_t) calib[11] << 8) | calib[10]);
+ dig_P4 = ( int16_t)((( int16_t) calib[13] << 8) | calib[12]);
+ dig_P5 = ( int16_t)((( int16_t) calib[15] << 8) | calib[14]);
+ dig_P6 = ( int16_t)((( int16_t) calib[17] << 8) | calib[16]);
+ dig_P7 = ( int16_t)((( int16_t) calib[19] << 8) | calib[18]);
+ dig_P8 = ( int16_t)((( int16_t) calib[21] << 8) | calib[20]);
+ dig_P9 = ( int16_t)((( int16_t) calib[23] << 8) | calib[22]);
- mpu9250.getAres(); // Get accelerometer sensitivity
- mpu9250.getGres(); // Get gyro sensitivity
- mpu9250.getMres(); // Get magnetometer sensitivity
- pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
- pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
- pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
- magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
- magbias[1] = +120.; // User environmental x-axis correction in milliGauss
- magbias[2] = +125.; // User environmental x-axis correction in milliGauss
-
+ pc.printf("dig_T1 is %d\n\r", dig_T1);
+ pc.printf("dig_T2 is %d\n\r", dig_T2);
+ pc.printf("dig_T3 is %d\n\r", dig_T3);
+ pc.printf("dig_P1 is %d\n\r", dig_P1);
+ pc.printf("dig_P2 is %d\n\r", dig_P2);
+ pc.printf("dig_P3 is %d\n\r", dig_P3);
+ pc.printf("dig_P4 is %d\n\r", dig_P4);
+ pc.printf("dig_P5 is %d\n\r", dig_P5);
+ pc.printf("dig_P6 is %d\n\r", dig_P6);
+ pc.printf("dig_P7 is %d\n\r", dig_P7);
+ pc.printf("dig_P8 is %d\n\r", dig_P8);
+ pc.printf("dig_P9 is %d\n\r", dig_P9);
+
+ pc.printf("BMP-280 calibration complete...\n\r");
+
+ }
+
+ else
+
+ {
+ pc.printf("BMP-280 is 0x%x\n\r", c);
+ pc.printf("BMP-280 should be 0x55\n\r");
+ while(1); // idle here forever
+ }
+
+ /* Main Loop*/
while(1) {
// If intPin goes high, all data registers have new data
- if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
+ // if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // OUse polling to check for data ready
+ if(newData){ // wait for interrupt for data ready
+ newData = false; // reset newData flag
+
+ mpu9250.readMPU9250Data(MPU9250Data); // INT cleared on any read
- mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
+// mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
// Now we'll calculate the accleration value into actual g's
- ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
- ay = (float)accelCount[1]*aRes - accelBias[1];
- az = (float)accelCount[2]*aRes - accelBias[2];
-
- mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
+ ax = (float)MPU9250Data[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
+ ay = (float)MPU9250Data[1]*aRes - accelBias[1];
+ az = (float)MPU9250Data[2]*aRes - accelBias[2];
+
+ // mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
// Calculate the gyro value into actual degrees per second
- gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
- gy = (float)gyroCount[1]*gRes - gyroBias[1];
- gz = (float)gyroCount[2]*gRes - gyroBias[2];
+ gx = (float)MPU9250Data[4]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
+ gy = (float)MPU9250Data[5]*gRes - gyroBias[1];
+ gz = (float)MPU9250Data[6]*gRes - gyroBias[2];
- mpu9250.readMagData(magCount); // Read the x/y/z adc values
+ }
+
+ if(mpu9250.readByte(AK8963_ADDRESS, AK8963_ST1) & 0x01) {
+
+ mpu9250.readMagData(magCount); // Read the x/y/z adc values
// Calculate the magnetometer values in milliGauss
// Include factory calibration per data sheet and user environmental corrections
- mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set
- my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];
- mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
- }
+ mx = (float)magCount[0]*mRes*magCalibration[0] - magBias[0]; // get actual magnetometer value, this depends on scale being set
+ my = (float)magCount[1]*mRes*magCalibration[1] - magBias[1];
+ mz = (float)magCount[2]*mRes*magCalibration[2] - magBias[2];
+ mx *= magScale[0]; // poor man's soft iron calibration
+ my *= magScale[1];
+ mz *= magScale[2];
+ }
Now = t.read_us();
deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
@@ -169,18 +276,13 @@
sum += deltat;
sumCount++;
-// if(lastUpdate - firstUpdate > 10000000.0f) {
-// beta = 0.04; // decrease filter gain after stabilized
-// zeta = 0.015; // increasey bias drift gain after stabilized
- // }
-
// Pass gyro rate as rad/s
-// mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
- mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
+ mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
+// mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
- // Serial print and/or display at 0.5 s rate independent of data rates
+ // Serial print and/or display at 1 s rate independent of data rates
delt_t = t.read_ms() - count;
- if (delt_t > 500) { // update LCD once per half-second independent of read rate
+ if (delt_t > 1000) { // update LCD once per second independent of read rate
pc.printf("ax = %f", 1000*ax);
pc.printf(" ay = %f", 1000*ay);
@@ -190,29 +292,26 @@
pc.printf(" gy = %f", gy);
pc.printf(" gz = %f deg/s\n\r", gz);
- pc.printf("gx = %f", mx);
- pc.printf(" gy = %f", my);
- pc.printf(" gz = %f mG\n\r", mz);
+ pc.printf("mx = %f", mx);
+ pc.printf(" my = %f", my);
+ pc.printf(" mz = %f mG\n\r", mz);
- tempCount = mpu9250.readTempData(); // Read the adc values
- temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
- pc.printf(" temperature = %f C\n\r", temperature);
+ // tempCount = mpu9250.readTempData(); // Read the adc values
+ temperature = ((float) MPU9250Data[3]) / 333.87f + 21.0f; // Temperature in degrees Centigrade
+ pc.printf("gyro temperature = %f C\n\r", temperature);
+
+ pc.printf("q0, q1, q2, q3 = %f %f %f %f\n\r",q[0], q[1], q[2], q[3]);
- pc.printf("q0 = %f\n\r", q[0]);
- pc.printf("q1 = %f\n\r", q[1]);
- pc.printf("q2 = %f\n\r", q[2]);
- pc.printf("q3 = %f\n\r", q[3]);
-
-/* lcd.clear();
- lcd.printString("MPU9250", 0, 0);
- lcd.printString("x y z", 0, 1);
- sprintf(buffer, "%d %d %d mg", (int)(1000.0f*ax), (int)(1000.0f*ay), (int)(1000.0f*az));
- lcd.printString(buffer, 0, 2);
- sprintf(buffer, "%d %d %d deg/s", (int)gx, (int)gy, (int)gz);
- lcd.printString(buffer, 0, 3);
- sprintf(buffer, "%d %d %d mG", (int)mx, (int)my, (int)mz);
- lcd.printString(buffer, 0, 4);
- */
+ rawPress = readBMP280Pressure();
+ Pressure = (float) bmp280_compensate_P(rawPress)/25600.0f; // Pressure in mbar
+ rawTemp = readBMP280Temperature();
+ Temperature = (float) bmp280_compensate_T(rawTemp)/100.0f;
+
+ float altitude = 145366.45f*(1.0f - powf(Pressure/1013.25f, 0.190284f) );
+ pc.printf("Temperature = %f C\n\r", Temperature);
+ pc.printf("Pressure = %f Pa\n\r", Pressure);
+ pc.printf("Altitude = %f feet\n\r", altitude);
+
// Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
// In this coordinate system, the positive z-axis is down toward Earth.
// Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
@@ -222,20 +321,16 @@
// Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
// applied in the correct order which for this configuration is yaw, pitch, and then roll.
// For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
- yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
- pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
- roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
+ yaw = atan2f(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
+ pitch = -asinf(2.0f * (q[1] * q[3] - q[0] * q[2]));
+ roll = atan2f(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
pitch *= 180.0f / PI;
yaw *= 180.0f / PI;
- yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
+ yaw += 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
roll *= 180.0f / PI;
pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
- pc.printf("average rate = %f\n\r", (float) sumCount/sum);
-// sprintf(buffer, "YPR: %f %f %f", yaw, pitch, roll);
-// lcd.printString(buffer, 0, 4);
-// sprintf(buffer, "rate = %f", (float) sumCount/sum);
-// lcd.printString(buffer, 0, 5);
+ pc.printf("average rate = %f Hz \n\r", (float) sumCount/sum);
myled= !myled;
count = t.read_ms();
@@ -249,6 +344,7 @@
sum = 0;
sumCount = 0;
}
+
}
- }
\ No newline at end of file
+}
\ No newline at end of file