File content as of revision 1:da3b20b5d38a:

/* This file is part of the Razor AHRS Firmware */
#include "AHRS.h"

void WriteBytes(Serial& s, char* b, int count)
{
    for ( int i = 0; i < count; ++i )
        s.putc(b[i]);
}

// Output angles: yaw, pitch, roll
void IMU::output_angles()
{
  if (output_mode == OUTPUT__MODE_ANGLES_BINARY)
  {
    float ypr[3];  
    ypr[0] = TO_DEG(yaw);
    ypr[1] = TO_DEG(pitch);
    ypr[2] = TO_DEG(roll);
    WriteBytes(pc, (char*)ypr, 12); // No new-line
  }
  else if (output_mode == OUTPUT__MODE_ANGLES_TEXT)
  {
      pc.printf("#YPR=%f,%f,%f" NEW_LINE,TO_DEG(yaw),TO_DEG(pitch),TO_DEG(roll));
  }
}

void IMU::output_calibration(int calibration_sensor)
{
  if (calibration_sensor == 0)  // Accelerometer
  {
    // Output MIN/MAX values
    pc.printf("accel x,y,z (min/max) = ");
    for (int i = 0; i < 3; i++) {
      if (accel[i] < accel_min[i]) accel_min[i] = accel[i];
      if (accel[i] > accel_max[i]) accel_max[i] = accel[i];
      pc.printf("%+5i/%+5i%s", accel_min[i], accel_max[i], (i < 2 ? "  " : "                    "));
    }
    pc.printf("%c" ,13,10);
  }
  else if (calibration_sensor == 1)  // Magnetometer
  {
    // Output MIN/MAX values
    pc.printf("magn x,y,z (min/max) = ");
    for (int i = 0; i < 3; i++) {
      if (magnetom[i] < magnetom_min[i]) magnetom_min[i] = magnetom[i];
      if (magnetom[i] > magnetom_max[i]) magnetom_max[i] = magnetom[i];
      pc.printf("%+4i/%+4i%s", magnetom_min[i], magnetom_max[i], (i < 2 ? "  " :  "                    "));
    }
    pc.printf("%c" ,13,10);
  }
  else if (calibration_sensor == 2)  // Gyroscope
  {
    // Average gyro values
    gyro_num_samples++;
    for (int i = 0; i < 3; i++)
      gyro_average[i] += (double)gyro[i];
    
      
    // Output current and averaged gyroscope values
    pc.printf("gyro x,y,z (current/average) = ");
    for (int i = 0; i < 3; i++) {
      pc.printf("%+5i/%+5.2f%s",gyro[i], (gyro_average[i] / (double)gyro_num_samples), (i < 2 ? "  " : "    "));
    }
    pc.printf("T:%f",temperature);
    pc.printf("%c" ,13,10);
  }
}

void IMU::output_sensors()
{
  pc.printf("#ACC=%+5i %+5i %+5i ", accel[0],    accel[1],    accel[2]);
  pc.printf("#MAG=%+4i %+4i %+4i ", magnetom[0], magnetom[1], magnetom[2]);
  pc.printf("#GYR=%+5i %+5i %+5i",  gyro[0],     gyro[1],     gyro[2]);
  pc.printf("%c" ,13,10);
}