Diff: LSM9DS0.cpp

Revision:

4:29f3711f5f59

Parent:

3:bc0db184f092

Child:

5:472542e91734

--- a/LSM9DS0.cpp	Thu Apr 28 09:06:50 2016 +0000
+++ b/LSM9DS0.cpp	Sat Jul 23 13:40:51 2016 +0000
@@ -26,7 +26,7 @@
 #include "mbed.h"
 
 //I2C i2c(D14,D15);
-//SPI spi(D4,D5,D3);
+//SPI spi(D4,D5,D8);
 //****************************************************************************//
 //
 //  LSM9DS0 functions.
@@ -94,7 +94,7 @@
     setMagScale(mScale); // Set the magnetometer's range.
     
     setGyroOffset(0,0,0);
-    setAccelOffset(0,0,0);
+    setAccelOffset(-936,-491,265);
     setMagOffset(0,0,0);
     
     // Once everything is initialized, return the WHO_AM_I registers we read:
@@ -858,23 +858,4 @@
 //    {
 //        dest[i++] = Wire.read(); // Put read results in the Rx buffer
 //    }
-}
-
-void LSM9DS0::complementaryFilter(float * data, float dt)
-{
-    
-    float pitchAcc, rollAcc;
- 
-    /* Integrate the gyro data(deg/s) over time to get angle */
-    pitch += data[5] * dt;  // Angle around the Z-axis
-    roll +=  data[3] * dt;  // Angle around the X-axis
-    
-    /* Turning around the X-axis results in a vector on the Y-axis
-    whereas turning around the Y-axis results in a vector on the X-axis. */
-    pitchAcc = (float)atan2f(-data[0], -data[1])*180.0f/PI;
-    rollAcc  = (float)atan2f(data[2], -data[1])*180.0f/PI;
-  
-    /* Apply Complementary Filter */
-    pitch = pitch * 0.999 + pitchAcc * 0.001;
-    roll  = roll  * 0.999 + rollAcc  * 0.001;
 }
\ No newline at end of file