Prosper Van / DCM_AHRS_GY80

AHRS based on MatrixPilot DCM algorithm; ported from Pololu MinIMU-9 example code in turn based on ArduPilot 1.5 built for sensor gy_80

Dependents:   quadCommand2

Fork of DCM_AHRS by Michael Shimniok

Diff: DCM.cpp

Revision:
4:4c6ffd1a88ce
Parent:
3:ef027800a8d5
Child:
5:d5ecdb82c17b
--- a/DCM.cpp	Wed Jul 24 02:52:28 2013 +0000
+++ b/DCM.cpp	Fri Jul 26 02:42:14 2013 +0000
@@ -3,8 +3,6 @@
 #include "math.h"
 #include "Sensors.h"
 
-#include "mbed.h"
-//Serial pc3(USBTX, USBRX);
 
 #define MAG_SKIP 1
 
@@ -158,8 +156,9 @@
   yaw = RAD2DEG(atan2(dcm[1][0],dcm[0][0]));
 }
 
-void DCM::Update_step()
+void DCM::Update_step(float dt)
 {
+    G_Dt = dt;
     Read_Accel(Accel_Vector);         
     Read_Gyro(Gyro_Vector);
     if (--update_count == 0) {