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:
5:d5ecdb82c17b
Parent:
4:4c6ffd1a88ce
Child:
6:49cbf2acc4e6
--- a/DCM.cpp	Fri Jul 26 02:42:14 2013 +0000
+++ b/DCM.cpp	Fri Jul 26 04:02:53 2013 +0000
@@ -35,6 +35,7 @@
         for (int n=0; n < 3; n++) {
             dcm[m][n] = (m == n) ? 1 : 0; // dcm starts as identity matrix
         }
+    
     }
     
 }
@@ -151,9 +152,9 @@
 
 void DCM::Euler_angles(void)
 {
-  pitch = RAD2DEG(-asin(dcm[2][0]));
-  roll = RAD2DEG(atan2(dcm[2][1],dcm[2][2]));
-  yaw = RAD2DEG(atan2(dcm[1][0],dcm[0][0]));
+    pitch = RAD2DEG(-asin(dcm[2][0]));
+    roll = RAD2DEG(atan2(dcm[2][1],dcm[2][2]));
+    yaw = RAD2DEG(atan2(dcm[1][0],dcm[0][0]));
 }
 
 void DCM::Update_step(float dt)