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

Diff: IMU/IMU_10DOF.cpp

Revision:
8:609a2ad4c30e
Parent:
7:90f876d47862
--- a/IMU/IMU_10DOF.cpp	Mon Sep 14 12:49:08 2015 +0000
+++ b/IMU/IMU_10DOF.cpp	Thu Nov 19 18:47:27 2015 +0000
@@ -1,6 +1,6 @@
 #include "IMU_10DOF.h"
 
-IMU_10DOF::IMU_10DOF(PinName MOSI, PinName MISO, PinName SCLK, PinName CS) : mpu(MOSI, MISO, SCLK, CS)
+IMU_10DOF::IMU_10DOF(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName SDA, PinName SCL) : mpu(MOSI, MISO, SCLK, CS), mpu2(SDA, SCL)
 {
     dt = 0;
     dt_sensors = 0;
@@ -15,6 +15,7 @@
     SensorTimer.start(); // start time for measuring sensors
     mpu.readGyro(); // reading sensor data
     mpu.readAcc();
+    mpu2.read(); // reading sensor data
     SensorTimer.stop(); // stop time for measuring sensors
     dt_sensors = SensorTimer.read();
     SensorTimer.reset();
@@ -24,4 +25,5 @@
     LoopTimer.reset();
     
     Filter.compute(dt, mpu.Gyro, mpu.Acc, mpu.Acc);
+    //Filter.compute(dt, mpu2.data_gyro, mpu2.data_acc, mpu2.data_acc);
 }
\ No newline at end of file