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:
12:e85008094132
Parent:
11:8d46121bd255
Child:
13:6134f21cad37
--- a/DCM.cpp	Thu Sep 26 05:19:13 2013 +0000
+++ b/DCM.cpp	Mon Oct 14 02:44:11 2013 +0000
@@ -7,8 +7,8 @@
 #define MAG_SKIP 1
 
 
-//#include "mbed.h"
-//Serial p(USBTX, USBRX); // tx, rx
+#include "mbed.h"
+Serial p(USBTX, USBRX); // tx, rx
 //
 //void DCM::pv(float a[3])
 //{
@@ -180,7 +180,10 @@
 void DCM::Update_step(float dt)
 {
     G_Dt = dt;
-    Read_Accel(Accel_Vector);         
+    Read_Accel(Accel_Vector);  
+    p.printf("X: %d   \t",Accel_Vector[0]);
+    p.printf("Y: %d   \t",Accel_Vector[1]);
+    p.printf("Z: %d   \n\r\n",Accel_Vector[2]);       
     Read_Gyro(Gyro_Vector);
     if (--update_count == 0) {
         Update_mag();