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Library for the MPU9250 9DOF IMU chip.
Dependents: Xadow-M0_Xadow-OLED_Accelerometer MARe_VT_ble_PeakSearch_Kalman_Inativ
Revision 1:fc94c7336b7c, committed 2019-03-01
- Comitter:
- ruevs
- Date:
- Fri Mar 01 09:47:40 2019 +0000
- Parent:
- 0:2315cd1878a1
- Commit message:
- Add buffers needed for magnetometer calibration.
Changed in this revision
| MPU9250.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r 2315cd1878a1 -r fc94c7336b7c MPU9250.h
--- a/MPU9250.h Tue Jun 12 08:22:41 2018 +0000
+++ b/MPU9250.h Fri Mar 01 09:47:40 2019 +0000
@@ -211,7 +211,11 @@
int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output
int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output
int16_t magCount[3]; // Stores the 16-bit signed magnetometer sensor output
+int16_t minMagCount[3] = {INT16_MAX, INT16_MAX, INT16_MAX};
+int16_t maxMagCount[3] = {INT16_MIN, INT16_MIN, INT16_MIN}; // Stores the 16-bit signed magnetometer minimum and maximum sensor output
+
float magCalibration[3] = {0, 0, 0}, magbias[3] = {0, 0, 0}; // Factory mag calibration and mag bias
+float magScale[3] = {1, 1, 1}; // Magnetometer scalig for x, y and z axis
float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer
float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values
int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius