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.h

Revision:
8:609a2ad4c30e
Parent:
7:90f876d47862
--- a/IMU/IMU_10DOF.h	Mon Sep 14 12:49:08 2015 +0000
+++ b/IMU/IMU_10DOF.h	Thu Nov 19 18:47:27 2015 +0000
@@ -5,12 +5,13 @@
 
 #include "mbed.h"
 #include "MPU9250.h"    // Combined Gyroscope & Accelerometer & Magnetometer over SPI
+#include "MPU6050.h"    // Combined Gyroscope & Accelerometer
 #include "IMU_Filter.h" // Class to calculate position angles  (algorithm from S.O.H. Madgwick, see header file for info)
 
 class IMU_10DOF
 {           
     public:
-        IMU_10DOF(PinName MOSI, PinName MISO, PinName SCLK, PinName CS);
+        IMU_10DOF(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName SDA, PinName SCL);
         void readAngles();              // read all sensors and calculate angles
         
         float * angle;                  // where the measured and calculated data is saved
@@ -22,6 +23,7 @@
         float dt_sensors;               // time only to read sensors
         
         MPU9250     mpu;                // The sensor Hardware Driver
+        MPU6050     mpu2;
             
     private:                            
         Timer LoopTimer;               // local time to calculate processing speed for entire loop