Diff: DCM.h

Revision:

13:6134f21cad37

Parent:

11:8d46121bd255

Child:

14:6cb3c2204b9b

--- a/DCM.h	Mon Oct 14 02:44:11 2013 +0000
+++ b/DCM.h	Tue Oct 15 08:24:34 2013 +0000
@@ -34,14 +34,14 @@
          * drift on 3 axes, (does not yet adjust for acceleration). Magnetometer update is run less often
          * than gyro/accelerometer-based update
          */
-        void Update_step(float dt);
-        
-        float Accel_Vector[3];  // Store the acceleration in a vector
-        float Gyro_Vector[3];   // Store the gyros turn rate in a vector
-        float Magn_Vector[3];
+        void Update_step(float dt, float AccelV[], float GyroV[], float MagnV[]);
+
         float dcm[3][3];        // The Direction Cosine Matrix
     private:
         /** Input for the calculated magnetic heading */
+        float Accel_Vector[3];
+        float Gyro_Vector[3];
+        float Magn_Vector[3];
         float MAG_Heading;
         float errorRollPitch[3]; 
         float errorYaw[3];
@@ -53,10 +53,11 @@
         float Update_Matrix[3][3];
         int update_count;   // call Update_mag() every update_count calls to Update_step()
         float constrain(float x, float a, float b);
+        
+        void Matrix_update(void);
         void Normalize(void);
         void Drift_correction(void);
         void Accel_adjust(void);
-        void Matrix_update(void);
         void Euler_angles(void);
         void Update_mag(void);
         void Compass_Heading(void);