MPU9250
Fork of MPU6050 by
Revision 20:0172ae63dd9e, committed 2018-03-28
- Comitter:
- tyftyftyf
- Date:
- Wed Mar 28 22:17:20 2018 +0000
- Parent:
- 19:09cc5b07e150
- Child:
- 21:ae3ee2d811eb
- Commit message:
- nhhgfdgbnhgbfdsfgnhfdsdfgfdsa
Changed in this revision
MPU6050.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/MPU6050.cpp Wed Mar 28 22:07:10 2018 +0000 +++ b/MPU6050.cpp Wed Mar 28 22:17:20 2018 +0000 @@ -3851,7 +3851,6 @@ void MPU6050::get9250Motion9Counts(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* hx, int16_t* hy, int16_t* hz) { - uint8_t buff[21]; int16_t axx, ayy, azz, gxx, gyy, gzz; axx = ax_cache; @@ -3863,22 +3862,14 @@ *hx = hx_cache; *hy = hy_cache; *hz = hz_cache; - - *ax = axx; - *ay = ayy; - *az = azz; - - *gx = gxx; - *gy = gyy; - *gz = gzz; - /**ax = tX[0]*axx + tX[1]*ayy + tX[2]*azz; // transform axes + *ax = tX[0]*axx + tX[1]*ayy + tX[2]*azz; // transform axes *ay = tY[0]*axx + tY[1]*ayy + tY[2]*azz; *az = tZ[0]*axx + tZ[1]*ayy + tZ[2]*azz; *gx = tX[0]*gxx + tX[1]*gyy + tX[2]*gzz; *gy = tY[0]*gxx + tY[1]*gyy + tY[2]*gzz; - *gz = tZ[0]*gxx + tZ[1]*gyy + tZ[2]*gzz;*/ + *gz = tZ[0]*gxx + tZ[1]*gyy + tZ[2]*gzz; } /* get accelerometer, gyro, and magnetometer data given pointers to store values */