Matthias Grob / Mbed 2 deprecated FlyBed2

My fully self designed first stable working Quadrocopter Software.

Dependencies:   mbed

Dependents:   fluy343

/media/uploads/maetugr/dsc09031.jpg

IMU/IMU_10DOF.cpp@10:14390c90c3f5, 2015-08-31 (annotated)

Committer:
maetugr
Date:
Mon Aug 31 20:20:50 2015 +0000
Revision:
10:14390c90c3f5
Parent:
4:b0a60b0b24a9 
before changing to MPU9250

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 0:12950aa67f2a 1 #include "IMU_10DOF.h"
maetugr 0:12950aa67f2a 2
maetugr 4:b0a60b0b24a9 3 IMU_10DOF::IMU_10DOF(PinName sda, PinName scl) : Sensor(p28, p27), Gyro(sda, scl), Acc(sda, scl), Comp(sda, scl), Alt(sda,scl)
maetugr 0:12950aa67f2a 4 {
maetugr 0:12950aa67f2a 5 dt = 0;
maetugr 0:12950aa67f2a 6 dt_sensors = 0;
maetugr 0:12950aa67f2a 7 time_for_dt = 0;
maetugr 0:12950aa67f2a 8 time_for_dt_sensors = 0;
maetugr 0:12950aa67f2a 9
maetugr 0:12950aa67f2a 10 angle = Filter.angle; // initialize array pointer
maetugr 0:12950aa67f2a 11
maetugr 4:b0a60b0b24a9 12 Sensor.calibrate(50, 0.02);
maetugr 4:b0a60b0b24a9 13
maetugr 0:12950aa67f2a 14 LocalTimer.start();
maetugr 0:12950aa67f2a 15 }
maetugr 0:12950aa67f2a 16
maetugr 0:12950aa67f2a 17 void IMU_10DOF::readAngles()
maetugr 0:12950aa67f2a 18 {
maetugr 0:12950aa67f2a 19 time_for_dt_sensors = LocalTimer.read(); // start time for measuring sensors
maetugr 10:14390c90c3f5 20 //mpu.readGyro();
maetugr 10:14390c90c3f5 21 //mpu.readAcc();
maetugr 4:b0a60b0b24a9 22 Sensor.read();
maetugr 4:b0a60b0b24a9 23 //Gyro.read(); // reading sensor data
maetugr 4:b0a60b0b24a9 24 //Acc.read();
maetugr 4:b0a60b0b24a9 25 //Comp.read();
maetugr 0:12950aa67f2a 26 dt_sensors = LocalTimer.read() - time_for_dt_sensors; // stop time for measuring sensors
maetugr 0:12950aa67f2a 27
maetugr 0:12950aa67f2a 28 // meassure dt for the filter
maetugr 0:12950aa67f2a 29 dt = LocalTimer.read() - time_for_dt; // time in s since last loop
maetugr 0:12950aa67f2a 30 time_for_dt = LocalTimer.read(); // set new time for next measurement
maetugr 0:12950aa67f2a 31
maetugr 10:14390c90c3f5 32 //Filter.compute(dt, mpu.Gyro, mpu.Acc, Comp.data);
maetugr 4:b0a60b0b24a9 33 Filter.compute(dt, Sensor.data_gyro, Sensor.data_acc, Comp.data);
maetugr 4:b0a60b0b24a9 34 //Filter.compute(dt, Gyro.data, Acc.data, Comp.data);
maetugr 0:12950aa67f2a 35 }
maetugr 0:12950aa67f2a 36
maetugr 0:12950aa67f2a 37 void IMU_10DOF::readAltitude()
maetugr 0:12950aa67f2a 38 {
maetugr 0:12950aa67f2a 39 Alt.read();
maetugr 0:12950aa67f2a 40 temperature = Alt.Temperature; // copy all resulting measurements
maetugr 0:12950aa67f2a 41 pressure = Alt.Pressure;
maetugr 0:12950aa67f2a 42 altitude = Alt.Altitude;
maetugr 0:12950aa67f2a 43 }