Prosper Van
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
Fork of
DCM_AHRS
by 
Michael Shimniok
Diff: DCM.cpp
- Revision:
- 7:d22702f7ce89
- Parent:
- 6:49cbf2acc4e6
- Child:
- 8:195d53710158
--- a/DCM.cpp Fri Jul 26 18:44:33 2013 +0000
+++ b/DCM.cpp Mon Jul 29 19:58:54 2013 +0000
@@ -7,20 +7,20 @@
#define MAG_SKIP 1
-#include "mbed.h"
-Serial p(USBTX, USBRX); // tx, rx
-
-void DCM::pv(float a[3])
-{
- p.printf("%g,\t%g,\t%g \n\r",a[0],a[1],a[2]);
-}
-
-void DCM::pm(float a[3][3])
-{
- p.printf("\t%g,\t%g,\t%g \n\r",a[0][0],a[0][1],a[0][2]);
- p.printf("\t%g,\t%g,\t%g \n\r",a[1][0],a[1][1],a[1][2]);
- p.printf("\t%g,\t%g,\t%g \n\r",a[2][0],a[2][1],a[2][2]);
-}
+//#include "mbed.h"
+//Serial p(USBTX, USBRX); // tx, rx
+//
+//void DCM::pv(float a[3])
+//{
+// p.printf("%g,\t%g,\t%g \n\r",a[0],a[1],a[2]);
+//}
+//
+//void DCM::pm(float a[3][3])
+//{
+// p.printf("\t%g,\t%g,\t%g \n\r",a[0][0],a[0][1],a[0][2]);
+// p.printf("\t%g,\t%g,\t%g \n\r",a[1][0],a[1][1],a[1][2]);
+// p.printf("\t%g,\t%g,\t%g \n\r",a[2][0],a[2][1],a[2][2]);
+//}
DCM::DCM(void):
G_Dt(0.02), update_count(MAG_SKIP)