MPU6050 arduino port by Szymon Gaertig (http://mbed.org/users/garfieldsg/code/MPU6050/) 1 memory overflow error corrected.
Dependents: MbedFreeIMU gurvanAHRS
Fork of MPU6050 by
GurvIMU.h
- Committer:
- pommzorz
- Date:
- 2013-06-22
- Revision:
- 6:40ac13ef7290
File content as of revision 6:40ac13ef7290:
#ifndef _GURVIMU_H_ #define _GURVIMU_H_ #include "mbed.h" #include "MPU6050.h" class GurvIMU { private: //Variables MPU6050 mpu; float twoKp; // 2 * proportional gain (Kp) float twoKi; // 2 * integral gain (Ki) float integralFBx, integralFBy, integralFBz; // integral error terms scaled by Ki float q0, q1, q2, q3; // quaternion of sensor frame relative to auxiliary frame float ax, ay, az, gx, gy, gz; float sample_freq; float offset[6]; Timer timer_us; float dt_us; float cycle_nb; //Functions void getOffset(); void getValues(float * values); void AHRS_update(float gx, float gy, float gz, float ax, float ay, float az); void getQ(float * q); public: GurvIMU(); void init(); void getYawPitchRollRad(float * ypr); void getVerticalAcceleration(float * av); }; //Fast Inverse Square Root float invSqrt(float number); #endif /* _GURVIMU_H_ */