Matthias Grob / Mbed 2 deprecated FlyBed3

Successful acro and level mode now! Relying on MPU9250 as base sensor. I'm working continuously on tuning and features :) NEWEST VERSION ON: https://github.com/MaEtUgR/FlyBed (CODE 100% compatible/copyable)

Dependencies:   mbed

IMU/IMU_10DOF.cpp@8:609a2ad4c30e, 2015-11-19 (annotated)

Committer:
maetugr
Date:
Thu Nov 19 18:47:27 2015 +0000
Revision:
8:609a2ad4c30e
Parent:
7:90f876d47862 
made I2C-Sensors working in parallel, added rolling buffer for PID derivative, played with the PID and frequency parameters in main

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 0:37f0c1e8fa66 1 #include "IMU_10DOF.h"
maetugr 0:37f0c1e8fa66 2
maetugr 8:609a2ad4c30e 3 IMU_10DOF::IMU_10DOF(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName SDA, PinName SCL) : mpu(MOSI, MISO, SCLK, CS), mpu2(SDA, SCL)
maetugr 0:37f0c1e8fa66 4 {
maetugr 0:37f0c1e8fa66 5 dt = 0;
maetugr 0:37f0c1e8fa66 6 dt_sensors = 0;
maetugr 0:37f0c1e8fa66 7
maetugr 0:37f0c1e8fa66 8 angle = Filter.angle; // initialize array pointer
maetugr 0:37f0c1e8fa66 9
maetugr 7:90f876d47862 10 LoopTimer.start();
maetugr 0:37f0c1e8fa66 11 }
maetugr 0:37f0c1e8fa66 12
maetugr 0:37f0c1e8fa66 13 void IMU_10DOF::readAngles()
maetugr 0:37f0c1e8fa66 14 {
maetugr 7:90f876d47862 15 SensorTimer.start(); // start time for measuring sensors
maetugr 1:60882db03b0f 16 mpu.readGyro(); // reading sensor data
maetugr 1:60882db03b0f 17 mpu.readAcc();
maetugr 8:609a2ad4c30e 18 mpu2.read(); // reading sensor data
maetugr 7:90f876d47862 19 SensorTimer.stop(); // stop time for measuring sensors
maetugr 7:90f876d47862 20 dt_sensors = SensorTimer.read();
maetugr 7:90f876d47862 21 SensorTimer.reset();
maetugr 0:37f0c1e8fa66 22
maetugr 0:37f0c1e8fa66 23 // meassure dt since last measurement for the filter
maetugr 7:90f876d47862 24 dt = LoopTimer.read(); // time in s since last loop
maetugr 7:90f876d47862 25 LoopTimer.reset();
maetugr 0:37f0c1e8fa66 26
maetugr 0:37f0c1e8fa66 27 Filter.compute(dt, mpu.Gyro, mpu.Acc, mpu.Acc);
maetugr 8:609a2ad4c30e 28 //Filter.compute(dt, mpu2.data_gyro, mpu2.data_acc, mpu2.data_acc);
maetugr 0:37f0c1e8fa66 29 }