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.h@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 // by MaEtUgR
maetugr 0:37f0c1e8fa66 2
maetugr 0:37f0c1e8fa66 3 #ifndef IMU_10DOF_H
maetugr 0:37f0c1e8fa66 4 #define IMU_10DOF_H
maetugr 0:37f0c1e8fa66 5
maetugr 0:37f0c1e8fa66 6 #include "mbed.h"
maetugr 0:37f0c1e8fa66 7 #include "MPU9250.h" // Combined Gyroscope & Accelerometer & Magnetometer over SPI
maetugr 8:609a2ad4c30e 8 #include "MPU6050.h" // Combined Gyroscope & Accelerometer
maetugr 0:37f0c1e8fa66 9 #include "IMU_Filter.h" // Class to calculate position angles (algorithm from S.O.H. Madgwick, see header file for info)
maetugr 0:37f0c1e8fa66 10
maetugr 0:37f0c1e8fa66 11 class IMU_10DOF
maetugr 0:37f0c1e8fa66 12 {
maetugr 0:37f0c1e8fa66 13 public:
maetugr 8:609a2ad4c30e 14 IMU_10DOF(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName SDA, PinName SCL);
maetugr 0:37f0c1e8fa66 15 void readAngles(); // read all sensors and calculate angles
maetugr 0:37f0c1e8fa66 16
maetugr 0:37f0c1e8fa66 17 float * angle; // where the measured and calculated data is saved
maetugr 0:37f0c1e8fa66 18 float temperature;
maetugr 0:37f0c1e8fa66 19 float pressure;
maetugr 0:37f0c1e8fa66 20 float altitude;
maetugr 0:37f0c1e8fa66 21
maetugr 0:37f0c1e8fa66 22 float dt; // time for entire loop
maetugr 0:37f0c1e8fa66 23 float dt_sensors; // time only to read sensors
maetugr 0:37f0c1e8fa66 24
maetugr 0:37f0c1e8fa66 25 MPU9250 mpu; // The sensor Hardware Driver
maetugr 8:609a2ad4c30e 26 MPU6050 mpu2;
maetugr 0:37f0c1e8fa66 27
maetugr 0:37f0c1e8fa66 28 private:
maetugr 7:90f876d47862 29 Timer LoopTimer; // local time to calculate processing speed for entire loop
maetugr 7:90f876d47862 30 Timer SensorTimer; // local time to calculate processing speed for just reading sensors
maetugr 0:37f0c1e8fa66 31
maetugr 0:37f0c1e8fa66 32 IMU_Filter Filter; // Filterclass to join sensor data
maetugr 0:37f0c1e8fa66 33 };
maetugr 0:37f0c1e8fa66 34
maetugr 0:37f0c1e8fa66 35 #endif