NOT FINISHED YET!!!
My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.
Dependencies:
mbed
MODI2C
Diff: Sensors/Acc/ADXL345.cpp
- Revision:
- 19:40c252b4a792
- Parent:
- 18:c8c09a3913ba
- Child:
- 20:e116e596e540
--- a/Sensors/Acc/ADXL345.cpp Sat Nov 03 07:44:07 2012 +0000
+++ b/Sensors/Acc/ADXL345.cpp Sat Nov 03 10:48:18 2012 +0000
@@ -25,9 +25,9 @@
readMultiRegister(ADXL345_DATAX0_REG, buffer, 6); // read axis registers using I2C
- data[0] = (short) (buffer[1] << 8 | buffer[0]); // join 8-Bit pieces to 16-bit short integers
- data[1] = (short) (buffer[3] << 8 | buffer[2]);
- data[2] = (short) (buffer[5] << 8 | buffer[4]);
+ data[0] = (float)(short) (buffer[1] << 8 | buffer[0]); // join 8-Bit pieces to 16-bit short integers
+ data[1] = (float)(short) (buffer[3] << 8 | buffer[2]);
+ data[2] = (float)(short) (buffer[5] << 8 | buffer[4]);
// calculate the angles for roll and pitch (0,1)
float R = sqrt(pow((float)data[0],2) + pow((float)data[1],2) + pow((float)data[2],2)); // calculate the absolute of the magnetic field vector
Matthias Grob
