Matthias Grob
/
FlyBed2
My fully self designed first stable working Quadrocopter Software.
Diff: IMU/Sensors/Gyro_Acc/MPU6050.cpp
- Revision:
- 10:14390c90c3f5
- Parent:
- 8:e79c7939d6de
--- a/IMU/Sensors/Gyro_Acc/MPU6050.cpp Mon Jul 14 09:06:43 2014 +0000 +++ b/IMU/Sensors/Gyro_Acc/MPU6050.cpp Mon Aug 31 20:20:50 2015 +0000 @@ -28,10 +28,10 @@ readraw_acc(); for (int i = 0; i < 3; i++) - data_gyro[i] = (raw_gyro[i] - offset_gyro[i])*0.07; // subtract offset from calibration and multiply unit factor to get degree per second (datasheet s.10) + data_gyro[i] = (raw_gyro[i] - offset_gyro[i])*0.07; // subtract offset from calibration and multiply unit factor to get degree per second (datasheet p.10) for (int i = 0; i < 3; i++) - data_acc[i] = raw_acc[i] - offset_acc[i]; // TODO: didn't care about units because IMU-algorithm just uses vector direction + data_acc[i] = raw_acc[i] - offset_acc[i]; // TODO: didn't care about units because IMU-algorithm just uses vector direction // I have to swich coordinates on my board to match the ones of the other sensors (clear this part if you use the raw coordinates of the sensor) float tmp = 0;